cpp_robotics::eigen_spline_api

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#include <spline_path.hpp>

Public Types

	Name
using VectorType	Vector
using typename Vector::Scalar	Scalar
using Eigen::Matrix< Scalar, Dim, 4 >	SplineCoeff
using Eigen::Matrix< Scalar, 4, 1 >	WeightVector

Public Functions

	Name
SplineCoeff	bezier_spline(const Vector & p0, const Vector & p1, const Vector & p2, const Vector & p3)
SplineCoeff	hermite_spline(const Vector & p0, const Vector & p1, const Vector & v0, const Vector & v1)
SplineCoeff	catumull_spline(const Vector & p0, const Vector & p1, const Vector & p2, const Vector & p3)
SplineCoeff	cubic_function_to_bezier(const Vector & a, const Vector & b, const Vector & c, const Vector & d)
WeightVector	bezier_weight(const double t)
WeightVector	bezier_weight(const WeightVector t)
Vector	evaluate(const SplineCoeff & spline, const WeightVector & w)
Vector	position(const SplineCoeff & spline, double t)
Vector	velocity(const SplineCoeff & spline, double t)
Vector	acceleration(const SplineCoeff & spline, double t)
void	split(const WeightVector & spline, WeightVector & spline0, WeightVector & spline1, double t)
void	split(const WeightVector & spline, WeightVector & spline0, WeightVector & spline1)
void	split(const SplineCoeff & spline, SplineCoeff & spline0, SplineCoeff & spline1)
void	split(const SplineCoeff & spline, SplineCoeff & spline0, SplineCoeff & spline1, double t)
double	length_estimate(const SplineCoeff & s, double & error)
double	length(const SplineCoeff & s, double max_error)
double	length(const SplineCoeff & s, double t0, double t1, double max_error)

Public Attributes

	Name
constexpr int	Dim

Detailed Description

template <class VectorType >
struct cpp_robotics::eigen_spline_api;

Public Types Documentation

using Vector

using cpp_robotics::eigen_spline_api< VectorType >::Vector =  VectorType;

using Scalar

using cpp_robotics::eigen_spline_api< VectorType >::Scalar =  typename Vector::Scalar;

using SplineCoeff

using cpp_robotics::eigen_spline_api< VectorType >::SplineCoeff =  Eigen::Matrix<Scalar, Dim, 4>;

using WeightVector

using cpp_robotics::eigen_spline_api< VectorType >::WeightVector =  Eigen::Matrix<Scalar, 4, 1>;

Public Functions Documentation

function bezier_spline

static inline SplineCoeff bezier_spline(
    const Vector & p0,
    const Vector & p1,
    const Vector & p2,
    const Vector & p3
)

function hermite_spline

static inline SplineCoeff hermite_spline(
    const Vector & p0,
    const Vector & p1,
    const Vector & v0,
    const Vector & v1
)

function catumull_spline

static inline SplineCoeff catumull_spline(
    const Vector & p0,
    const Vector & p1,
    const Vector & p2,
    const Vector & p3
)

function cubic_function_to_bezier

static inline SplineCoeff cubic_function_to_bezier(
    const Vector & a,
    const Vector & b,
    const Vector & c,
    const Vector & d
)

function bezier_weight

static inline WeightVector bezier_weight(
    const double t
)

function bezier_weight

static inline WeightVector bezier_weight(
    const WeightVector t
)

function evaluate

static inline Vector evaluate(
    const SplineCoeff & spline,
    const WeightVector & w
)

function position

static inline Vector position(
    const SplineCoeff & spline,
    double t
)

function velocity

static inline Vector velocity(
    const SplineCoeff & spline,
    double t
)

function acceleration

static inline Vector acceleration(
    const SplineCoeff & spline,
    double t
)

function split

static inline void split(
    const WeightVector & spline,
    WeightVector & spline0,
    WeightVector & spline1,
    double t
)

function split

static inline void split(
    const WeightVector & spline,
    WeightVector & spline0,
    WeightVector & spline1
)

function split

static inline void split(
    const SplineCoeff & spline,
    SplineCoeff & spline0,
    SplineCoeff & spline1
)

function split

static inline void split(
    const SplineCoeff & spline,
    SplineCoeff & spline0,
    SplineCoeff & spline1,
    double t
)

function length_estimate

static inline double length_estimate(
    const SplineCoeff & s,
    double & error
)

function length

static inline double length(
    const SplineCoeff & s,
    double max_error
)

function length

static inline double length(
    const SplineCoeff & s,
    double t0,
    double t1,
    double max_error
)

Public Attributes Documentation

variable Dim

static constexpr int Dim = Vector::RowsAtCompileTime;

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Updated on 2024-05-28 at 06:55:40 +0000