#include <hpp/core/path/hermite.hh>

Inheritance diagram for hpp::core::path::Hermite:

Collaboration diagram for hpp::core::path::Hermite:

Public Types
typedef Spline< BernsteinBasis, 3 >	parent_t
Public Types inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
typedef internal::sbf_traits< PolynomeBasis, Order >	sbf_traits
typedef internal::spline_basis_function< PolynomeBasis, Order >	BasisFunction_t
typedef Eigen::Matrix< value_type, NbPowerOfT, 1 >	PowersOfT_t
typedef sbf_traits::Coeffs_t	BasisFunctionVector_t
typedef sbf_traits::IntegralCoeffs_t	BasisFunctionIntegralMatrix_t
typedef Eigen::Matrix< value_type, NbCoeffs, Eigen::Dynamic, Eigen::RowMajor >	ParameterMatrix_t
typedef Eigen::Map< const vector_t, Eigen::Aligned >	ConstParameterVector_t
typedef Eigen::Map< vector_t, Eigen::Aligned >	ParameterVector_t
typedef shared_ptr< Spline >	Ptr_t
typedef weak_ptr< Spline >	WkPtr_t
enum

Public Member Functions
virtual	~Hermite ()
	Destructor.
virtual PathPtr_t	copy () const
virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
DevicePtr_t	device () const
	Return the internal robot.
void	v0 (const vectorIn_t &speed)
void	v1 (const vectorIn_t &speed)
vector_t	v0 () const
vector_t	v1 () const
virtual Configuration_t	initial () const
	Get the initial configuration.
virtual Configuration_t	end () const
	Get the final configuration.
const value_type &	hermiteLength () const
void	computeHermiteLength ()
vector_t	velocity (const value_type &t) const
Public Member Functions inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
size_type	parameterSize () const
void	parameterDerivativeCoefficients (vectorOut_t res, const value_type &t) const
void	parameterIntegrate (vectorIn_t dParam)
	Adds dParam to the parameters.
value_type	squaredNormIntegral (const size_type order) const
void	squaredNormIntegralDerivative (const size_type order, vectorOut_t res) const
void	basisFunctionDerivative (const size_type order, const value_type &u, BasisFunctionVector_t &res) const
void	basisFunctionDerivative (const size_type order, const value_type &u, vectorOut_t res) const
void	maxVelocity (vectorOut_t res) const
void	squaredNormBasisFunctionIntegral (const size_type order, BasisFunctionIntegralMatrix_t &res) const
void	squaredNormBasisFunctionIntegral (const size_type order, matrixOut_t res) const
const Configuration_t &	base () const
void	base (const Configuration_t &q)
const ParameterMatrix_t &	parameters () const
	Each row corresponds to a velocity of the robot.
void	parameters (const ParameterMatrix_t &m)
ConstParameterVector_t	rowParameters () const
	Concatenate the parameters as one vector (P_0^T, ..., P_n^T).
void	rowParameters (vectorIn_t p)
	Set the parameters.
PathPtr_t	copy () const
	Return a shared pointer to a copy of this.
PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
virtual	~Spline ()
Public Member Functions inherited from hpp::core::Path
virtual	~Path ()
	Destructor.
template<class T>
shared_ptr< T >	as (void)
	Static cast into a derived type.
template<class T>
shared_ptr< const T >	as (void) const
	Static cast into a derived type.
PathPtr_t	extract (const interval_t &subInterval) const
PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const
virtual PathPtr_t	reverse () const
Configuration_t	eval (const value_type &time, bool &success) const
	Configuration at time.
bool	eval (ConfigurationOut_t result, const value_type &time) const
	Configuration at time.
bool	at (const value_type &time, ConfigurationOut_t result) const
	Get the configuration at a parameter without applying the constraints.
void	derivative (vectorOut_t result, const value_type &time, size_type order) const
void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
size_type	outputSize () const
	Get size of configuration space.
size_type	outputDerivativeSize () const
	Get size of velocity.
const interval_t &	timeRange () const
	Get interval of definition.
virtual value_type	length () const
	Get length of definition interval.
const ConstraintSetPtr_t &	constraints () const
	Get constraints the path is subject to.
const interval_t &	paramRange () const
const TimeParameterizationPtr_t &	timeParameterization () const
	Get the time parameterization function.
void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function.

Static Public Member Functions
static HermitePtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints)
static HermitePtr_t	createCopy (const HermitePtr_t &path)
static HermitePtr_t	createCopy (const HermitePtr_t &path, const ConstraintSetPtr_t &constraints)
Static Public Member Functions inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
static void	timeFreeBasisFunctionDerivative (const size_type order, const value_type &u, BasisFunctionVector_t &res)
static void	timeFreeBasisFunctionDerivative (const size_type order, const value_type &u, vectorOut_t res)
static Ptr_t	create (const DevicePtr_t &robot, const interval_t &interval, const ConstraintSetPtr_t &constraints, bool se3Output=false)
static void	value (pinocchio::LiegroupElementConstRef base, Eigen::Ref< const ParameterMatrix_t > params, const value_type &u, ConfigurationOut_t config, vectorOut_t velocity)

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print path in a stream.
	Hermite (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end)
	Constructor.
	Hermite (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints)
	Constructor with constraints.
	Hermite (const Hermite &path)
	Copy constructor.
	Hermite (const Hermite &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints.
void	init (HermitePtr_t self)
Protected Member Functions inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
	Spline (const DevicePtr_t &robot, const interval_t &interval, const ConstraintSetPtr_t &constraints, bool se3Output=false)
	Spline (const Spline &path)
	Spline (const Spline &path, const ConstraintSetPtr_t &constraints)
void	init (const Ptr_t &self)
std::ostream &	print (std::ostream &os) const
bool	impl_compute (ConfigurationOut_t configuration, value_type t) const
	Function evaluation without applying constraints.
void	impl_derivative (vectorOut_t res, const value_type &t, size_type order) const
void	impl_paramDerivative (vectorOut_t res, const value_type &t) const
void	impl_paramIntegrate (vectorIn_t dParam)
void	impl_velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
Protected Member Functions inherited from hpp::core::Path
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
	Path (const Path &path)
	Copy constructor.
	Path (const Path &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints.
void	init (const PathWkPtr_t &self)
void	constraints (const ConstraintSetPtr_t &constraint)
virtual void	checkPath () const
	Should be called by child classes after having init.
void	timeRange (const interval_t &timeRange)
value_type	paramLength () const
Configuration_t	configAtParam (const value_type &param, bool &success) const
virtual PathPtr_t	impl_extract (const interval_t &paramInterval) const
	Virtual implementation of extract.
	Path ()

Additional Inherited Members
Protected Attributes inherited from hpp::core::path::Spline< BernsteinBasis, 3 >
size_type	parameterSize_
	Robot number of degrees of freedom.
DevicePtr_t	robot_
LiegroupElement	base_
ParameterMatrix_t	parameters_
Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_
	Interval of parameters.

Member Typedef Documentation

◆ parent_t

typedef Spline<BernsteinBasis, 3> hpp::core::path::Hermite::parent_t

Constructor & Destructor Documentation

◆ ~Hermite()

virtual hpp::core::path::Hermite::~Hermite ( )

inlinevirtual

Destructor.

◆ Hermite() [1/4]

hpp::core::path::Hermite::Hermite	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end )

protected

Constructor.

◆ Hermite() [2/4]

hpp::core::path::Hermite::Hermite	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		ConstraintSetPtr_t	constraints )

protected

Constructor with constraints.

◆ Hermite() [3/4]

hpp::core::path::Hermite::Hermite ( const Hermite & path )

protected

Copy constructor.

◆ Hermite() [4/4]

hpp::core::path::Hermite::Hermite	(	const Hermite &	path,
		const ConstraintSetPtr_t &	constraints )

protected

Copy constructor with constraints.

Member Function Documentation

◆ computeHermiteLength()

void hpp::core::path::Hermite::computeHermiteLength ( )

◆ copy() [1/2]

virtual PathPtr_t hpp::core::path::Hermite::copy ( ) const

inlinevirtual

Return a shared pointer to this

As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.

Implements hpp::core::Path.

◆ copy() [2/2]

virtual PathPtr_t hpp::core::path::Hermite::copy ( const ConstraintSetPtr_t & constraints ) const

inlinevirtual

Return a shared pointer to a copy of this and set constraints

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Implements hpp::core::Path.

◆ create()

HermitePtr_t hpp::core::path::Hermite::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		ConstraintSetPtr_t	constraints )

inlinestatic

◆ createCopy() [1/2]

HermitePtr_t hpp::core::path::Hermite::createCopy ( const HermitePtr_t & path )

inlinestatic

Create copy and return shared pointer

Parameters

path	path to copy

◆ createCopy() [2/2]

HermitePtr_t hpp::core::path::Hermite::createCopy	(	const HermitePtr_t &	path,
		const ConstraintSetPtr_t &	constraints )

inlinestatic

Create copy and return shared pointer

Parameters

path	path to copy
constraints	the path is subject to

◆ device()

DevicePtr_t hpp::core::path::Hermite::device ( ) const

Return the internal robot.

◆ end()

virtual Configuration_t hpp::core::path::Hermite::end ( ) const

inlinevirtual

Get the final configuration.

Reimplemented from hpp::core::path::Spline< BernsteinBasis, 3 >.

◆ hermiteLength()

const value_type & hpp::core::path::Hermite::hermiteLength ( ) const

inline

◆ init()

void hpp::core::path::Hermite::init ( HermitePtr_t self )

protected

◆ initial()

virtual Configuration_t hpp::core::path::Hermite::initial ( ) const

inlinevirtual

Get the initial configuration.

Reimplemented from hpp::core::path::Spline< BernsteinBasis, 3 >.

◆ print()

virtual std::ostream & hpp::core::path::Hermite::print ( std::ostream & os ) const

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

◆ v0() [1/2]

vector_t hpp::core::path::Hermite::v0 ( ) const

inline

◆ v0() [2/2]

void hpp::core::path::Hermite::v0 ( const vectorIn_t & speed )

inline

◆ v1() [1/2]

vector_t hpp::core::path::Hermite::v1 ( ) const

inline

◆ v1() [2/2]

void hpp::core::path::Hermite::v1 ( const vectorIn_t & speed )

inline

◆ velocity()

vector_t hpp::core::path::Hermite::velocity ( const value_type & t ) const

The documentation for this class was generated from the following file:

include/hpp/core/path/hermite.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~Hermite()

◆ Hermite() [1/4]

◆ Hermite() [2/4]

◆ Hermite() [3/4]

◆ Hermite() [4/4]

Member Function Documentation

◆ computeHermiteLength()

◆ copy() [1/2]

◆ copy() [2/2]

◆ create()

◆ createCopy() [1/2]

◆ createCopy() [2/2]

◆ device()

◆ end()

◆ hermiteLength()

◆ init()

◆ initial()

◆ print()

◆ v0() [1/2]

◆ v0() [2/2]

◆ v1() [1/2]

◆ v1() [2/2]

◆ velocity()