roboptim::trajectory::FreeTimeTrajectory< T > Class Template Reference

Decorate a trajectory to make time scalable. More...

#include <roboptim/trajectory/free-time-trajectory.hh>

Inheritance diagram for roboptim::trajectory::FreeTimeTrajectory< T >:

List of all members.

Public Types
typedef T	fixedTimeTrajectory_t
	Fixed point trajectory type.
typedef FreeTimeTrajectory< T >	self_t
	Self type.
typedef parent_t::interval_t	interval_t
	Import interval type.
Public Member Functions
	ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_ (Trajectory< T::derivabilityOrder >)
	Parent type and imports.
	FreeTimeTrajectory (const fixedTimeTrajectory_t &traj, value_type s)
	Constructor with fixed definition interval trajectory.
	FreeTimeTrajectory (const self_t &traj)
virtual	~FreeTimeTrajectory ()
virtual jacobian_t	variationConfigWrtParam (double t) const
	Get the variation of a configuration with respect to parameter vector.
virtual jacobian_t	variationDerivWrtParam (double t, size_type order) const
	Get the variation of a derivative with respect to parameter vector.
virtual value_type	singularPointAtRank (size_type rank) const
	Get singular point at given rank.
virtual vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const
	Get left limit value of derivative at given singular point.
virtual vector_t	derivAfterSingularPoint (size_type rank, size_type order) const
	Get right limit value of derivative at given singular point.
virtual void	setParameters (const_vector_ref)
	Set parameters.
value_type	timeScale () const
	Get time scale factor.
size_type	getTimeScalingIndex () const
virtual std::ostream &	print (std::ostream &o) const
	Display the function on the specified output stream.
virtual void	normalizeAngles (size_type index)
	Normalize angles in parameters array.
const fixedTimeTrajectory_t &	getFixedTimeTrajectory () const
self_t *	resize (interval_t) const
	Clone and resize a trajectory.
fixedTimeTrajectory_t *	makeFixedTimeTrajectory () const
double	scaleTime (double t) const
	Scale input time argument.
double	unscaleTime (double t) const
jacobian_t	variationConfigWrtParam (StableTimePoint tp) const
jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const
Protected Member Functions
void	impl_compute (result_ref, double) const
void	impl_derivative (derivative_ref g, double x, size_type order) const
void	impl_derivative (derivative_ref g, StableTimePoint, size_type order) const

---

Detailed Description

template<typename T>
class roboptim::trajectory::FreeTimeTrajectory< T >

Decorate a trajectory to make time scalable.

Build a trajectory from an input trajectory and a time scale factor.

Examples:

spline-time-optimization.cc.

---

Member Typedef Documentation

template<typename T >

typedef T roboptim::trajectory::FreeTimeTrajectory< T >::fixedTimeTrajectory_t

Fixed point trajectory type.

template<typename T >

typedef parent_t::interval_t roboptim::trajectory::FreeTimeTrajectory< T >::interval_t

Import interval type.

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

typedef FreeTimeTrajectory<T> roboptim::trajectory::FreeTimeTrajectory< T >::self_t

Self type.

---

Constructor & Destructor Documentation

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::FreeTimeTrajectory	(	const fixedTimeTrajectory_t &	traj,
		value_type	s
	)

Constructor with fixed definition interval trajectory.

Parameters:

traj	trajectory defining this one by reparameterization
s	time scale

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::FreeTimeTrajectory

(

const self_t &

traj

)

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::~FreeTimeTrajectory

(

)

[virtual]

---

Member Function Documentation

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::trajectory::FreeTimeTrajectory< T >::derivAfterSingularPoint	(	size_type	rank,
		size_type	order
	)		const [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.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::trajectory::FreeTimeTrajectory< T >::derivBeforeSingularPoint	(	size_type	rank,
		size_type	order
	)		const [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.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

const fixedTimeTrajectory_t& roboptim::trajectory::FreeTimeTrajectory< T >::getFixedTimeTrajectory

(

)

const [inline]

template<typename T >

size_type roboptim::trajectory::FreeTimeTrajectory< T >::getTimeScalingIndex

(

)

const [inline]

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_compute	(	result_ref	res,
		double	t
	)		const [protected]

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_derivative	(	derivative_ref	g,
		double	x,
		size_type	order
	)		const [protected]

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::impl_derivative	(	derivative_ref	g,
		StableTimePoint	stp,
		size_type	order
	)		const [protected, virtual]

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

fixedTimeTrajectory_t* roboptim::trajectory::FreeTimeTrajectory< T >::makeFixedTimeTrajectory

(

)

const [inline]

References roboptim::trajectory::Trajectory< T::derivabilityOrder >::timeRange().

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::normalizeAngles

(

size_type

index

)

[virtual]

Normalize angles in parameters array.

Make sure angles are continuous.

Parameters:

index

Angles index in parameter array.

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

std::ostream & roboptim::trajectory::FreeTimeTrajectory< T >::print

(

std::ostream &

o

)

const [virtual]

Display the function on the specified output stream.

Parameters:

o	output stream used for display

Returns:

output stream

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

self_t* roboptim::trajectory::FreeTimeTrajectory< T >::resize

(

interval_t

timeRange

)

const [inline, virtual]

Clone and resize a trajectory.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

References roboptim::trajectory::FreeTimeTrajectory< T >::scaleTime(), roboptim::trajectory::Trajectory< DerivabilityOrder >::timeRange(), roboptim::trajectory::Trajectory< T::derivabilityOrder >::timeRange(), and roboptim::trajectory::tMax.

template<typename T >

roboptim::trajectory::FreeTimeTrajectory< T >::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS_

(

Trajectory< T::derivabilityOrder >

)

Parent type and imports.

template<typename T >

double roboptim::trajectory::FreeTimeTrajectory< T >::scaleTime

(

double

t

)

const

Scale input time argument.

Scale input argument with the same factor that the input trajectory:

\[t' = t_{min} + \lambda * (t - t_{min})\]

where \([t_{min}, t_{max}]\) is the input trajectory time range and

\[\lambda\]

the scale factor.

Parameters:

t	input time

Returns:

new scaled time

References roboptim::trajectory::detail::fixTime().

Referenced by roboptim::trajectory::FreeTimeTrajectory< T >::resize().

template<typename T >

void roboptim::trajectory::FreeTimeTrajectory< T >::setParameters

(

const_vector_ref

)

[virtual]

Set parameters.

Parameters:

vector_t

parameters.

Exceptions:

std::runtime_error

Reimplemented from roboptim::trajectory::Trajectory< T::derivabilityOrder >.

Examples:

spline-time-optimization.cc.

References roboptim::trajectory::removeScaleFromParameters(), and roboptim::trajectory::detail::unscaleInterval().

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::trajectory::FreeTimeTrajectory< T >::singularPointAtRank

(

size_type

rank

)

const [virtual]

Get singular point at given rank.

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::trajectory::FreeTimeTrajectory< T >::timeScale

(

)

const

Get time scale factor.

Returns:

time scale factor.

template<typename T >

double roboptim::trajectory::FreeTimeTrajectory< T >::unscaleTime

(

double

t

)

const

References roboptim::trajectory::detail::fixTime(), and roboptim::trajectory::tMax.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationConfigWrtParam

(

double

t

)

const [virtual]

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

Parameters:

t	value \(t\) in the definition interval.

Returns:

Jacobian:

\[\frac{\partial\Gamma_{\textbf{p}}(t)}{\partial\textbf{p}}\]

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationConfigWrtParam

(

StableTimePoint

tp

)

const [virtual]

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationDerivWrtParam	(	double	t,
		size_type	order
	)		const [virtual]

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

Parameters:

t	value \(t\) in the definition interval.
order	order \(r\) of the derivative.

Returns:

jacobian

\[ \frac{\partial}{\partial\textbf{p}} \left(\frac{d^r\Gamma_{\textbf{p}}}{dt^r}(t)\right) \]

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::trajectory::FreeTimeTrajectory< T >::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)		const [virtual]

Implements roboptim::trajectory::Trajectory< T::derivabilityOrder >.