Abstract trajectory. More...

#include <roboptim/trajectory/trajectory.hh>

Inheritance diagram for roboptim::trajectory::Trajectory< DerivabilityOrder >:

Public Types
typedef parent_t::interval_t	interval_t
	Import interval type.
Public Member Functions
	ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (NTimesDerivableFunction< DerivabilityOrder >)
	Parent type and imports.
virtual	~Trajectory ()
result_t	operator() (StableTimePoint argument) const
void	operator() (result_ref result, StableTimePoint argument) const
gradient_t	derivative (StableTimePoint argument, size_type order=1) const
void	derivative (gradient_ref derivative, StableTimePoint argument, size_type order=1) const
virtual jacobian_t	variationConfigWrtParam (StableTimePoint tp) const =0
virtual jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const =0
bool	isValidTime (value_type t) const
virtual void	normalizeAngles (size_type index)
	Normalize angles in parameters array.
virtual Trajectory < DerivabilityOrder > *	clone () const =0
virtual Trajectory < DerivabilityOrder > *	resize (interval_t timeRange) const =0
	Clone and resize a trajectory.
virtual std::ostream &	print (std::ostream &) const
Accessing parameters, and state.
const vector_t &	parameters () const
virtual void	setParameters (const vector_t &)
	Set parameters.
interval_t	timeRange () const
value_type	length () const
virtual vector_t	state (double t, size_type order) const
	Get state along trajectory.
virtual vector_t	state (StableTimePoint t, size_type order) const
Accessing parameters and gradients
virtual jacobian_t	variationConfigWrtParam (double t) const =0
	Get the variation of a configuration with respect to parameter vector.
virtual jacobian_t	variationDerivWrtParam (double t, size_type order) const =0
	Get the variation of a derivative with respect to parameter vector.
jacobian_t	variationStateWrtParam (double t, size_type order) const
	Get the variation of the state with respect to parameter vector.
jacobian_t	variationStateWrtParam (StableTimePoint stp, size_type order) const
Singular points
size_type	singularPoints () const
	Get number of singular points.
virtual value_type	singularPointAtRank (size_type rank) const =0
	Get singular point at given rank.
virtual vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const =0
	Get left limit value of derivative at given singular point.
virtual vector_t	derivAfterSingularPoint (size_type rank, size_type order) const =0
	Get right limit value of derivative at given singular point.
Tolerance for inclusion of parameter in interval of definition.
Set tolerance for inclusion of parameter in interval of definition.
void	tolerance (const double &tolerance)
double	tolerance () const
	Get tolerance for inclusion of parameter in interval of definition.
Protected Member Functions
void	impl_compute (result_ref, StableTimePoint) const
virtual void	impl_derivative (gradient_ref g, StableTimePoint, size_type order) const =0
	Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string())
virtual void	normalizeAngles (size_type index, size_type offset)
	Internal version of normalizeAngles allowing an optional offset.
Protected Attributes
interval_t	timeRange_
vector_t	parameters_
size_type	singularPoints_

Detailed Description

template<unsigned DerivabilityOrder>
class roboptim::trajectory::Trajectory< DerivabilityOrder >

Abstract trajectory.

A trajectory is a piecewise smooth mapping $\Gamma$ from

the Cartesian product of a definition interval and a vector space of parameters $\textbf{R}^m$
to a vector space $\textbf{R}^n$ :
$\begin{array}{llll} \Gamma: & [t_{min}, t_{max}] \times \textbf{R}^m & \rightarrow & \textbf{R}^n \\ & (t, \textbf{p}) & \rightarrow & \Gamma_{\textbf{p}}(t) \end{array}$

Template Parameters:

DerivabilityOrder derivability order

Member Typedef Documentation

template<unsigned DerivabilityOrder>

typedef parent_t::interval_t roboptim::trajectory::Trajectory< DerivabilityOrder >::interval_t

Import interval type.

Reimplemented in roboptim::trajectory::FreeTimeTrajectory< T >, roboptim::trajectory::BSpline< N >, and roboptim::trajectory::ConstrainedBSpline< N >.

Constructor & Destructor Documentation

template<unsigned dorder>

roboptim::trajectory::Trajectory< dorder >::~Trajectory ( ) [virtual]

template<unsigned dorder>

roboptim::trajectory::Trajectory< dorder >::Trajectory	(	interval_t	tr,
		size_type	outputSize,
		const vector_t &	p,
		std::string	name = `std::string ()`
	)		`[protected]`

Member Function Documentation

template<unsigned DerivabilityOrder>

virtual Trajectory<DerivabilityOrder>* roboptim::trajectory::Trajectory< DerivabilityOrder >::clone ( ) const [pure virtual]

template<unsigned DerivabilityOrder>

virtual vector_t roboptim::trajectory::Trajectory< DerivabilityOrder >::derivAfterSingularPoint	(	size_type	rank,
		size_type	order
	)		const `[pure virtual]`

Get right limit value of derivative at given singular point.

Parameters:

rank	rank of the singular points.
order	order of derivation.

Return values:

derivative Limit of the derivative at singular point for decreasing parameter values.

Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned DerivabilityOrder>

gradient_t roboptim::trajectory::Trajectory< DerivabilityOrder >::derivative	(	StableTimePoint	argument,
		size_type	order = `1`
	)		const `[inline]`

Referenced by roboptim::trajectory::Trajectory< T::derivabilityOrder >::derivative().

template<unsigned DerivabilityOrder>

void roboptim::trajectory::Trajectory< DerivabilityOrder >::derivative	(	gradient_ref	derivative,
		StableTimePoint	argument,
		size_type	order = `1`
	)		const `[inline]`

template<unsigned DerivabilityOrder>

virtual vector_t roboptim::trajectory::Trajectory< DerivabilityOrder >::derivBeforeSingularPoint	(	size_type	rank,
		size_type	order
	)		const `[pure virtual]`

Get left limit value of derivative at given singular point.

Parameters:

rank	rank of the singular points.
order	order of derivation.

Returns:: Limit of the derivative at singular point for increasing parameter values.

Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::impl_compute	(	result_ref	res,
		StableTimePoint	stp
	)		const `[protected]`

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::trajectory::StableTimePoint::getTime().

Referenced by roboptim::trajectory::Trajectory< T::derivabilityOrder >::operator()().

template<unsigned DerivabilityOrder>

virtual void roboptim::trajectory::Trajectory< DerivabilityOrder >::impl_derivative	(	gradient_ref	g,
		StableTimePoint	,
		size_type	order
	)		const `[protected, pure virtual]`

Implemented in roboptim::trajectory::CubicBSpline, roboptim::trajectory::BSpline< N >, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

Referenced by roboptim::trajectory::Trajectory< T::derivabilityOrder >::derivative().

template<unsigned dorder>

bool roboptim::trajectory::Trajectory< dorder >::isValidTime ( value_type t ) const

template<unsigned dorder>

Trajectory< dorder >::value_type roboptim::trajectory::Trajectory< dorder >::length ( ) const

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::normalizeAngles ( size_type index ) [virtual]

Normalize angles in parameters array.

Make sure angles are continuous.

Parameters:

index Angles index in parameter array.

Reimplemented in roboptim::trajectory::FreeTimeTrajectory< T >.

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::normalizeAngles	(	size_type	index,
		size_type	offset
	)		`[protected, virtual]`

Internal version of normalizeAngles allowing an optional offset.

Used to factorize code between trajectories and free time trajectories.

Parameters:

index	Angles index in parameter array.
offset	Index of the first control point in the parameter vector.

template<unsigned DerivabilityOrder>

result_t roboptim::trajectory::Trajectory< DerivabilityOrder >::operator() ( StableTimePoint argument ) const [inline]

template<unsigned DerivabilityOrder>

void roboptim::trajectory::Trajectory< DerivabilityOrder >::operator()	(	result_ref	result,
		StableTimePoint	argument
	)		const `[inline]`

template<unsigned dorder>

const Trajectory< dorder >::vector_t & roboptim::trajectory::Trajectory< dorder >::parameters ( ) const

Reimplemented in roboptim::trajectory::ConstrainedBSpline< N >.

Referenced by roboptim::trajectory::CubicBSpline::CubicBSpline(), roboptim::trajectory::CubicBSpline::operator+(), roboptim::trajectory::CubicBSpline::operator+=(), and roboptim::trajectory::VectorInterpolation::VectorInterpolation().

template<unsigned dorder>

std::ostream & roboptim::trajectory::Trajectory< dorder >::print ( std::ostream & o ) const [virtual]

Reimplemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, and roboptim::trajectory::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>

virtual Trajectory<DerivabilityOrder>* roboptim::trajectory::Trajectory< DerivabilityOrder >::resize ( interval_t timeRange ) const [pure virtual]

Clone and resize a trajectory.

Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::FreeTimeTrajectory< T >, roboptim::trajectory::VectorInterpolation, roboptim::trajectory::ConstrainedBSpline< N >, and roboptim::trajectory::CubicBSpline.

template<unsigned DerivabilityOrder>

roboptim::trajectory::Trajectory< DerivabilityOrder >::ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ ( NTimesDerivableFunction< DerivabilityOrder > )

Parent type and imports.

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::setParameters ( const vector_t & p ) [virtual]

Set parameters.

Parameters:

vector_t parameters.

Exceptions:

std::runtime_error

Reimplemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned DerivabilityOrder>

virtual value_type roboptim::trajectory::Trajectory< DerivabilityOrder >::singularPointAtRank ( size_type rank ) const [pure virtual]

Get singular point at given rank.

Implemented in roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

Trajectory< dorder >::size_type roboptim::trajectory::Trajectory< dorder >::singularPoints ( ) const

Get number of singular points.

template<unsigned dorder>

Trajectory< dorder >::vector_t roboptim::trajectory::Trajectory< dorder >::state	(	double	t,
		size_type	order
	)		const `[virtual]`

Get state along trajectory.

Parameters:

t	value in the definition interval.
order	the higher order of the required derivative

Returns:: the state defined as the vector containing the config and first derivatives:
$\textbf{X}(t) = \left(\Gamma_{\textbf{p}}(t), \frac{d\Gamma_{\textbf{p}}}{dt}(t),\cdots, \frac{d^{r}\Gamma_{\textbf{p}}}{dt^{r}}(t)\right)$
The configuration and derivatives are concatenated in one vector.

template<unsigned dorder>

Trajectory< dorder >::vector_t roboptim::trajectory::Trajectory< dorder >::state	(	StableTimePoint	t,
		size_type	order
	)		const `[virtual]`

template<unsigned dorder>

Trajectory< dorder >::interval_t roboptim::trajectory::Trajectory< dorder >::timeRange ( ) const

Referenced by roboptim::trajectory::CubicBSpline::operator+(), roboptim::trajectory::CubicBSpline::operator+=(), roboptim::trajectory::visualization::gnuplot::plot_limitSpeed(), roboptim::trajectory::visualization::gnuplot::plot_xy(), roboptim::trajectory::FreeTimeTrajectory< T >::resize(), and roboptim::trajectory::detail::unscaleInterval().

template<unsigned dorder>

void roboptim::trajectory::Trajectory< dorder >::tolerance ( const double & tolerance )

template<unsigned dorder>

double roboptim::trajectory::Trajectory< dorder >::tolerance ( ) const

Get tolerance for inclusion of parameter in interval of definition.

template<unsigned DerivabilityOrder>

virtual jacobian_t roboptim::trajectory::Trajectory< DerivabilityOrder >::variationConfigWrtParam ( double t ) const [pure virtual]

Get the variation of a configuration with respect to parameter vector.

Parameters:

t	value in the definition interval.

Returns:: Jacobian:
$\frac{\partial\Gamma_{\textbf{p}}(t)}{\partial\textbf{p}}$

Implemented in roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned DerivabilityOrder>

virtual jacobian_t roboptim::trajectory::Trajectory< DerivabilityOrder >::variationConfigWrtParam ( StableTimePoint tp ) const [pure virtual]

Implemented in roboptim::trajectory::FreeTimeTrajectory< T >, roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, and roboptim::trajectory::VectorInterpolation.

template<unsigned DerivabilityOrder>

virtual jacobian_t roboptim::trajectory::Trajectory< DerivabilityOrder >::variationDerivWrtParam	(	double	t,
		size_type	order
	)		const `[pure virtual]`

Get the variation of a derivative with respect to parameter vector.

Parameters:

t	value in the definition interval.
order	order of the derivative.

Returns:: jacobian
$\frac{\partial}{\partial\textbf{p}} \left(\frac{d^r\Gamma_{\textbf{p}}}{dt^r}(t)\right)$

Implemented in roboptim::trajectory::ConstrainedBSpline< N >, roboptim::trajectory::CubicBSpline, roboptim::trajectory::FreeTimeTrajectory< T >, and roboptim::trajectory::VectorInterpolation.

template<unsigned DerivabilityOrder>

virtual jacobian_t roboptim::trajectory::Trajectory< DerivabilityOrder >::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)		const `[pure virtual]`

Implemented in roboptim::trajectory::FreeTimeTrajectory< T >, roboptim::trajectory::BSpline< N >, roboptim::trajectory::CubicBSpline, and roboptim::trajectory::VectorInterpolation.

template<unsigned dorder>

Trajectory< dorder >::jacobian_t roboptim::trajectory::Trajectory< dorder >::variationStateWrtParam	(	double	t,
		size_type	order
	)		const

Get the variation of the state with respect to parameter vector.

Parameters:

t	value in the definition interval.
order	order of the derivative.

Returns:: jacobian
$\left(\begin{array}{c}\frac{\partial}{\partial \lambda} \Gamma_{\textbf{p}}(t) \\ \vdots \\ \frac{\partial}{\partial \lambda}\frac{d\Gamma_{\textbf{p}}^r}{dt^r}(t) \end{array}\right)$

template<unsigned dorder>

Trajectory< dorder >::jacobian_t roboptim::trajectory::Trajectory< dorder >::variationStateWrtParam	(	StableTimePoint	stp,
		size_type	order
	)		const

Member Data Documentation

template<unsigned DerivabilityOrder>

vector_t roboptim::trajectory::Trajectory< DerivabilityOrder >::parameters_ [protected]

template<unsigned DerivabilityOrder>

size_type roboptim::trajectory::Trajectory< DerivabilityOrder >::singularPoints_ [protected]

template<unsigned DerivabilityOrder>

interval_t roboptim::trajectory::Trajectory< DerivabilityOrder >::timeRange_ [protected]

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<unsigned DerivabilityOrder> class roboptim::trajectory::Trajectory< DerivabilityOrder >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<unsigned DerivabilityOrder>
class roboptim::trajectory::Trajectory< DerivabilityOrder >