hpp::core::timeParameterization::PiecewisePolynomial< _Order > Class Template Reference

#include <hpp/core/time-parameterization/piecewise-polynomial.hh>

Inheritance diagram for hpp::core::timeParameterization::PiecewisePolynomial< _Order >:

Collaboration diagram for hpp::core::timeParameterization::PiecewisePolynomial< _Order >:

Public Types
enum	{ Order = _Order , NbCoeffs = Order + 1 }
typedef Eigen::Matrix< value_type, NbCoeffs, Eigen::Dynamic, Eigen::ColMajor >	ParameterMatrix_t
typedef Eigen::Matrix< value_type, Eigen::Dynamic, 1 >	Vector_t

Public Member Functions
	PiecewisePolynomial (const ParameterMatrix_t &parameters, const Vector_t &breakpoints)
const ParameterMatrix_t &	parameters () const
const std::vector< value_type > &	breakpoints () const
TimeParameterizationPtr_t	copy () const
value_type	value (const value_type &t) const
	Computes \( \sum_{i=0}^n a_i t^i \).
value_type	derivative (const value_type &t, const size_type &order) const
	Computes \( \sum_{i=1}^n i a_i t^{i-1} \).
bool	polynomialsStartAtZero () const
void	polynomialsStartAtZero (bool startAtZero)
	See the corresponding getter.
Public Member Functions inherited from hpp::core::TimeParameterization
virtual value_type	derivativeBound (const value_type &low, const value_type &up) const

Member Typedef Documentation

ParameterMatrix_t

template<int _Order>

typedef Eigen::Matrix<value_type, NbCoeffs, Eigen::Dynamic, Eigen::ColMajor> hpp::core::timeParameterization::PiecewisePolynomial< _Order >::ParameterMatrix_t

Vector_t

template<int _Order>

typedef Eigen::Matrix<value_type, Eigen::Dynamic, 1> hpp::core::timeParameterization::PiecewisePolynomial< _Order >::Vector_t

Member Enumeration Documentation

anonymous enum

template<int _Order>

anonymous enum

Enumerator
Order
NbCoeffs

Constructor & Destructor Documentation

PiecewisePolynomial()

template<int _Order>

hpp::core::timeParameterization::PiecewisePolynomial< _Order >::PiecewisePolynomial ( const ParameterMatrix_t & parameters, const Vector_t & breakpoints )

inline

Construct piecewise polynomials of order k and defined by N polynomial.

Parameters

parameters	Matrix of polynomials coefficients (size k x N).
breakpoints	Domain of the piecewise polynomial, defined by N+1 breakpoints defining the half-open intervals of each polynomial.

Member Function Documentation

breakpoints()

template<int _Order>

const std::vector< value_type > & hpp::core::timeParameterization::PiecewisePolynomial< _Order >::breakpoints ( ) const

inline

copy()

template<int _Order>

TimeParameterizationPtr_t hpp::core::timeParameterization::PiecewisePolynomial< _Order >::copy ( ) const

inlinevirtual

Implements hpp::core::TimeParameterization.

derivative()

template<int _Order>

value_type hpp::core::timeParameterization::PiecewisePolynomial< _Order >::derivative ( const value_type & t, const size_type & order ) const

inlinevirtual

Computes \( \sum_{i=1}^n i a_i t^{i-1} \).

Implements hpp::core::TimeParameterization.

parameters()

template<int _Order>

const ParameterMatrix_t & hpp::core::timeParameterization::PiecewisePolynomial< _Order >::parameters ( ) const

inline

polynomialsStartAtZero() [1/2]

template<int _Order>

bool hpp::core::timeParameterization::PiecewisePolynomial< _Order >::polynomialsStartAtZero ( ) const

inline

Whether the polynomial should be shifted.

If true, when evaluating the polynomials, the initial breakpoint time of a polynomial is substracted. A polynomial defined between \( [ t_k, t_{k+1} [ \) evaluates to \( P(t) = \sum_{i=0}^n a_i (t - t_k)^i \).

This defaults to false.

polynomialsStartAtZero() [2/2]

template<int _Order>

void hpp::core::timeParameterization::PiecewisePolynomial< _Order >::polynomialsStartAtZero ( bool startAtZero )

inline

See the corresponding getter.

value()

template<int _Order>

value_type hpp::core::timeParameterization::PiecewisePolynomial< _Order >::value ( const value_type & t ) const

inlinevirtual

Computes \( \sum_{i=0}^n a_i t^i \).

Implements hpp::core::TimeParameterization.

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

• include/hpp/core/time-parameterization/piecewise-polynomial.hh