roboptim::trajectory::VectorInterpolation Class Reference

Takes a vector or argument and differentiate it. More...

#include <roboptim/trajectory/vector-interpolation.hh>

Inheritance diagram for roboptim::trajectory::VectorInterpolation:

List of all members.

Public Types
typedef boost::shared_ptr < VectorInterpolation >	VectorInterpolationShPtr_t
Public Member Functions
	ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS (Trajectory< 3 >)
	ROBOPTIM_IMPLEMENT_CLONE (VectorInterpolation)
	VectorInterpolation (const_vector_ref x, size_type outputSize, value_type dt)
	Vector interpolation constructor.
	~VectorInterpolation ()
	VectorInterpolation (const VectorInterpolation &vi)
void	setParameters (const_vector_ref)
	Store parameters and update coefficients.
size_type	numFrames () const
jacobian_t	variationConfigWrtParam (double t) const
	Get the variation of a configuration with respect to parameter vector.
jacobian_t	variationDerivWrtParam (double t, size_type order) const
	Get the variation of a derivative with respect to parameter vector.
value_type	singularPointAtRank (size_type rank) const
	Get singular point at given rank.
vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const
	Get left limit value of derivative at given singular point.
vector_t	derivAfterSingularPoint (size_type rank, size_type order) const
	Get right limit value of derivative at given singular point.
jacobian_t	variationConfigWrtParam (StableTimePoint tp) const
jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const
boost::shared_ptr < VectorInterpolation >	trim (size_type start, size_type length) const
	Instantiate a trajectory corresponding to a sub-part of this trajectory.
Protected Member Functions
void	impl_compute (result_ref result, double t) const
void	impl_derivative (derivative_ref derivative, double argument, size_type order=1) const
void	impl_derivative (derivative_ref g, StableTimePoint, size_type order) const
Trajectory< 3 > *	resize (interval_t timeRange) const
	Clone and resize a trajectory.

---

Detailed Description

Takes a vector or argument and differentiate it.

It is common to have an optimization vector where a pattern is repeated:

[x_0^0 ... x_N^0 ... x_0^M x_N^M]

The pattern is here of length N and repeated M times.

By using numerical interpolation, it is possible to differentiate this pattern.

A classical example are trajectories.

---

Member Typedef Documentation

typedef boost::shared_ptr<VectorInterpolation> roboptim::trajectory::VectorInterpolation::VectorInterpolationShPtr_t

---

Constructor & Destructor Documentation

roboptim::trajectory::VectorInterpolation::VectorInterpolation	(	const_vector_ref	x,
		size_type	outputSize,
		value_type	dt
	)		[inline, explicit]

Vector interpolation constructor.

Exceptions:

std::runtime_error

roboptim::trajectory::VectorInterpolation::~VectorInterpolation

(

)

[inline]

roboptim::trajectory::VectorInterpolation::VectorInterpolation

(

const VectorInterpolation &

vi

)

[inline]

References roboptim::trajectory::Trajectory< DerivabilityOrder >::parameters(), and setParameters().

---

Member Function Documentation

VectorInterpolation::vector_t roboptim::trajectory::VectorInterpolation::derivAfterSingularPoint	(	size_type	rank,
		size_type	order
	)		const [inline, 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< 3 >.

VectorInterpolation::vector_t roboptim::trajectory::VectorInterpolation::derivBeforeSingularPoint	(	size_type	rank,
		size_type	order
	)		const [inline, 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< 3 >.

void roboptim::trajectory::VectorInterpolation::impl_compute	(	result_ref	result,
		double	t
	)		const [inline, protected]

void roboptim::trajectory::VectorInterpolation::impl_derivative	(	derivative_ref	derivative,
		double	argument,
		size_type	order = 1
	)		const [inline, protected]

References roboptim::trajectory::Trajectory< 3 >::operator()(), and roboptim::trajectory::Trajectory< 3 >::parameters().

Referenced by impl_derivative().

void roboptim::trajectory::VectorInterpolation::impl_derivative	(	derivative_ref	g,
		StableTimePoint	stp,
		size_type	order
	)		const [inline, protected, virtual]

Implements roboptim::trajectory::Trajectory< 3 >.

References roboptim::trajectory::StableTimePoint::getTime(), and impl_derivative().

VectorInterpolation::size_type roboptim::trajectory::VectorInterpolation::numFrames

(

)

const [inline]

References roboptim::trajectory::Trajectory< 3 >::parameters().

Referenced by trim().

Trajectory< 3 > * roboptim::trajectory::VectorInterpolation::resize

(

interval_t

timeRange

)

const [inline, protected, virtual]

Clone and resize a trajectory.

Implements roboptim::trajectory::Trajectory< 3 >.

roboptim::trajectory::VectorInterpolation::ROBOPTIM_IMPLEMENT_CLONE

(

VectorInterpolation

)

roboptim::trajectory::VectorInterpolation::ROBOPTIM_NTIMES_DERIVABLE_FUNCTION_FWD_TYPEDEFS

(

Trajectory< 3 >

)

void roboptim::trajectory::VectorInterpolation::setParameters

(

const_vector_ref

x

)

[inline, virtual]

Store parameters and update coefficients.

Parameters:

vector_t

vector of parameters.

Exceptions:

std::runtime_error

Reimplemented from roboptim::trajectory::Trajectory< 3 >.

References roboptim::trajectory::Trajectory< 3 >::parameters(), and roboptim::trajectory::Trajectory< 3 >::singularPoints_.

Referenced by VectorInterpolation().

VectorInterpolation::value_type roboptim::trajectory::VectorInterpolation::singularPointAtRank

(

size_type

rank

)

const [inline, virtual]

Get singular point at given rank.

Implements roboptim::trajectory::Trajectory< 3 >.

boost::shared_ptr< VectorInterpolation > roboptim::trajectory::VectorInterpolation::trim	(	size_type	start,
		size_type	length
	)		const [inline]

Instantiate a trajectory corresponding to a sub-part of this trajectory.

This function can be called to exclude some frames at the beginning and/or the end of the trajectory.

Parameters:

[in]	start	starting frame (0 is the first frame)
[out]	length	length of the output trajectory (0 means maximum length)

Returns:

build sub-trajectory (data are copied)

References numFrames(), and roboptim::trajectory::Trajectory< 3 >::parameters().

VectorInterpolation::jacobian_t roboptim::trajectory::VectorInterpolation::variationConfigWrtParam

(

double

t

)

const [inline, 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< 3 >.

References variationDerivWrtParam().

VectorInterpolation::jacobian_t roboptim::trajectory::VectorInterpolation::variationConfigWrtParam

(

StableTimePoint

tp

)

const [inline, virtual]

Implements roboptim::trajectory::Trajectory< 3 >.

References variationDerivWrtParam().

VectorInterpolation::jacobian_t roboptim::trajectory::VectorInterpolation::variationDerivWrtParam	(	double	t,
		size_type	order
	)		const [inline, 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< 3 >.

References roboptim::trajectory::Trajectory< 3 >::parameters().

Referenced by variationConfigWrtParam().

VectorInterpolation::jacobian_t roboptim::trajectory::VectorInterpolation::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)		const [inline, virtual]

Implements roboptim::trajectory::Trajectory< 3 >.

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