Mathematical functions

B-Spline trajectory. More...

Classes
class	roboptim::trajectory::BSpline< N >
class	roboptim::trajectory::ConstrainedBSpline< N >
	Constrained B-spline. More...
class	roboptim::trajectory::CubicBSpline
	Cubic B-Spline trajectory. More...
class	roboptim::trajectory::FreeTimeTrajectory< T >
	Decorate a trajectory to make time scalable. More...
class	roboptim::trajectory::SplineLength
	Approximate the length of a Spline. More...
Functions
	roboptim::trajectory::SplineLength::SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none_t())
	Construct the function from a Spline and a definition interval.
virtual	roboptim::trajectory::SplineLength::~SplineLength ()
void	roboptim::trajectory::SplineLength::impl_compute (result_ref, const_argument_ref) const
void	roboptim::trajectory::SplineLength::impl_gradient (gradient_ref, const_argument_ref, size_type) const
Variables
static log4cxx::LoggerPtr	roboptim::trajectory::BSpline< N >::logger
	Pointer to B-spline logger (see log4cxx documentation).

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Detailed Description

B-Spline trajectory.

Implement a B-Spline as a trajectory based in doc/quintic-b-spline.tex The template parameter N determines the order of the spline.

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Function Documentation

void roboptim::trajectory::SplineLength::impl_compute	(	result_ref	res,
		const_argument_ref	p
	)		const [protected]

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::trajectory::CubicBSpline::setParameters(), and roboptim::trajectory::TrajectoryCost< CubicBSpline >::trajectory_.

void roboptim::trajectory::SplineLength::impl_gradient	(	gradient_ref	,
		const_argument_ref	,
		size_type
	)		const [protected]

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::trajectory::CubicBSpline::setParameters(), and roboptim::trajectory::TrajectoryCost< CubicBSpline >::trajectory_.

roboptim::trajectory::SplineLength::SplineLength	(	const CubicBSpline &	spline,
		const size_type	nDiscretizationPoints = 100,
		boost::optional< interval_t >	interval = boost::none_t ()
	)

Construct the function from a Spline and a definition interval.

The interval allows to only compute the length of the Spline on a specific interval. The step associated to the interval controls the approximation precision.

Parameters:

spline	spline used for length computation
interval	interval on which the length is computed.
nDiscretizationPoints	number of discretization points

roboptim::trajectory::SplineLength::~SplineLength

(

)

[virtual]

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Variable Documentation

template<int N>

log4cxx::LoggerPtr roboptim::trajectory::BSpline< N >::logger [static, protected]

Pointer to B-spline logger (see log4cxx documentation).

LOG4CXX logger for B-splines.

Template Parameters:

N	order of the B-Spline.

Returns:

logger.