Constraint function on a spline's interval. More...
#include <roboptim/trajectory/constraints-over-splines.hh>
Public Types | |
typedef S::polynomial_t | polynomial_t |
typedef Function::interval_t | interval_t |
typedef std::vector< polynomial_t > | polynomials_t |
typedef S | spline_t |
typedef boost::shared_ptr < spline_t > | splinePtr_t |
typedef std::vector < boost::shared_ptr< S > > | splines_t |
Public Member Functions | |
ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (roboptim::GenericDifferentiableFunction< T >) | |
ConstraintsOverSplines (const splines_t &splines, size_t splineIdx, unsigned int order, value_type startingPoint, size_type inputSize) | |
Constructor. | |
Protected Member Functions | |
polynomial_t | toPoly (const_argument_ref x) const |
virtual void | impl_compute (result_ref result, const_argument_ref x) const |
virtual void | impl_gradient (gradient_ref grad, const_argument_ref x, size_type i) const |
Static Protected Member Functions | |
static std::string | GenerateName (const splines_t &splines, size_t splineIdx, unsigned int order, value_type startingPoint) |
Generate the name of the constraint. | |
static interval_t | ComputeInterval (const splines_t &splines, size_t splineIdx, value_type startingPoint) |
Compute the range of the time interval. | |
static size_t | ComputeIntervalIdx (const splines_t &splines, size_t splineIdx, value_type startingPoint) |
Determine the interval index of the constraint. | |
static size_type | ComputeStartIdx (const splines_t &splines, size_t splineIdx) |
Determine the first index in the argument vector, assuming all joint control points are contiguous. | |
Protected Attributes | |
size_t | order_ |
Order of the spline (e.g. 3 for cubic). | |
S::interval_t | interval_ |
Time range of the constraint. | |
size_type | startingIndex_ |
Index of the influencing control points. | |
polynomials_t | basisPolynomials_ |
Basis polynomials used for gradient computation. | |
spline_t | spline_ |
Constrained spline. | |
size_t | intervalIdx_ |
Index of the constrained time interval. |
Constraint function on a spline's interval.
T | Matrix type |
S | Spline type |
typedef Function::interval_t roboptim::trajectory::ConstraintsOverSplines< T, S >::interval_t |
typedef S::polynomial_t roboptim::trajectory::ConstraintsOverSplines< T, S >::polynomial_t |
typedef std::vector<polynomial_t> roboptim::trajectory::ConstraintsOverSplines< T, S >::polynomials_t |
typedef S roboptim::trajectory::ConstraintsOverSplines< T, S >::spline_t |
typedef boost::shared_ptr<spline_t> roboptim::trajectory::ConstraintsOverSplines< T, S >::splinePtr_t |
typedef std::vector<boost::shared_ptr<S> > roboptim::trajectory::ConstraintsOverSplines< T, S >::splines_t |
roboptim::trajectory::ConstraintsOverSplines< T, S >::ConstraintsOverSplines | ( | const splines_t & | splines, |
size_t | splineIdx, | ||
unsigned int | order, | ||
value_type | startingPoint, | ||
size_type | inputSize | ||
) |
Constructor.
splines | vector of splines. |
splineIdx | index of the spline to constrain. |
order | derivation order of the spline to constain. |
startingPoint | starting point of the constraint. |
inputSize | input size of the problem. |
ConstraintsOverSplines< T, S >::interval_t roboptim::trajectory::ConstraintsOverSplines< T, S >::ComputeInterval | ( | const splines_t & | splines, |
size_t | splineIdx, | ||
value_type | startingPoint | ||
) | [static, protected] |
Compute the range of the time interval.
splines | vector of splines. |
splineIdx | index of the spline to constrain. |
startingPoint | starting point of the constraint. |
size_t roboptim::trajectory::ConstraintsOverSplines< T, S >::ComputeIntervalIdx | ( | const splines_t & | splines, |
size_t | splineIdx, | ||
value_type | startingPoint | ||
) | [static, protected] |
Determine the interval index of the constraint.
splines | vector of splines. |
splineIdx | index of the spline to constrain. |
startingPoint | starting point of the constraint. |
ConstraintsOverSplines< T, S >::size_type roboptim::trajectory::ConstraintsOverSplines< T, S >::ComputeStartIdx | ( | const splines_t & | splines, |
size_t | splineIdx | ||
) | [static, protected] |
Determine the first index in the argument vector, assuming all joint control points are contiguous.
splines | vector of splines. |
splineIdx | index of the spline to constrain. |
std::string roboptim::trajectory::ConstraintsOverSplines< T, S >::GenerateName | ( | const splines_t & | splines, |
size_t | splineIdx, | ||
unsigned int | order, | ||
value_type | startingPoint | ||
) | [static, protected] |
Generate the name of the constraint.
splines | vector of splines. |
splineIdx | index of the spline to constrain. |
order | derivation order of the spline to constain. |
startingPoint | starting point of the constraint. |
void roboptim::trajectory::ConstraintsOverSplines< T, S >::impl_compute | ( | result_ref | result, |
const_argument_ref | x | ||
) | const [protected, virtual] |
void roboptim::trajectory::ConstraintsOverSplines< T, S >::impl_gradient | ( | gradient_ref | grad, |
const_argument_ref | x, | ||
size_type | i | ||
) | const [protected, virtual] |
roboptim::trajectory::ConstraintsOverSplines< T, S >::ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ | ( | roboptim::GenericDifferentiableFunction< T > | ) |
ConstraintsOverSplines< T, S >::polynomial_t roboptim::trajectory::ConstraintsOverSplines< T, S >::toPoly | ( | const_argument_ref | x | ) | const [protected] |
polynomials_t roboptim::trajectory::ConstraintsOverSplines< T, S >::basisPolynomials_ [protected] |
Basis polynomials used for gradient computation.
S::interval_t roboptim::trajectory::ConstraintsOverSplines< T, S >::interval_ [protected] |
Time range of the constraint.
size_t roboptim::trajectory::ConstraintsOverSplines< T, S >::intervalIdx_ [protected] |
Index of the constrained time interval.
size_t roboptim::trajectory::ConstraintsOverSplines< T, S >::order_ [protected] |
Order of the spline (e.g. 3 for cubic).
spline_t roboptim::trajectory::ConstraintsOverSplines< T, S >::spline_ [mutable, protected] |
Constrained spline.
size_type roboptim::trajectory::ConstraintsOverSplines< T, S >::startingIndex_ [protected] |
Index of the influencing control points.