roboptim::trajectory Namespace Reference

Namespaces

 detail
 
 visualization
 

Classes

class  AnthropomorphicCostFunction
 Cost function from ``An optimal control model unifying holonomic and nonholonomic walking'' Katja Mombaur, Jean-Paul Laumond, Eiichi Yoshida (2008 8th IEEE-RAS Interational Conference on Humanoid Robots). More...
 
class  BSpline
 
class  ConstrainedBSpline
 Constrained B-spline. More...
 
class  CubicBSpline
 Cubic B-Spline trajectory. More...
 
class  FreeTimeTrajectory
 Decorate a trajectory to make time scalable. More...
 
class  Freeze
 Add constraints that freeze parameters. More...
 
class  FrontalSpeed
 
class  LimitOmega
 
class  LimitSpeed
 
struct  Monomial
 Monomial

\[ M (t) = t-t_0 \]

. More...

 
class  OrthogonalSpeed
 
class  Polynomial
 Polynomial of degree at most N (N >= 0). More...
 
class  SplineLength
 Approximate the length of a Spline. More...
 
class  StablePointStateFunction
 Trajectory cost function defined by state evaluation at parameter. More...
 
class  StableTimePoint
 
class  StateFunction
 Trajectory cost function defined by state evaluation at parameter. More...
 
class  SumCost
 
class  TMax
 
class  Trajectory
 Abstract trajectory. More...
 
class  TrajectoryCost
 Meta-function for trajectory cost. More...
 
class  TrajectorySumCost
 Trajectory cost function defined by sum of state evaluations at parameters. More...
 
class  VectorInterpolation
 Takes a vector or argument and differentiate it. More...
 

Typedefs

typedef Polynomial< 3 > Polynomial3
 Polynomial of degree at most 3. More...
 
typedef Monomial< 3 > Monomial3
 Monomial3

\[ M (t) = t-t_0 \]

. More...

 

Functions

Function::vector_t addScaleToParameters (Function::const_vector_ref p, Function::value_type t=1.)
 
Function::vector_t removeScaleFromParameters (Function::const_vector_ref v)
 
template<typename P >
Freeze< P > makeFreeze (P &problem)
 
template<int N>
std::ostream & operator<< (std::ostream &stream, const Polynomial< N > &p)
 Print a polynomial to a given output stream. More...
 
template<int N>
Polynomial< N > operator* (typename Polynomial< N >::value_type lambda, const Polynomial< N > &poly)
 
StableTimePoint operator* (Function::value_type alpha, TMax)
 
StableTimePoint operator* (TMax, Function::value_type alpha)
 
boost::shared_ptr< VectorInterpolationvectorInterpolation (VectorInterpolation::vector_t x, VectorInterpolation::size_type outputSize, VectorInterpolation::value_type dt=1.)
 

Variables

static const TMax tMax = TMax ()
 

Typedef Documentation

Monomial3

\[ M (t) = t-t_0 \]

.

Polynomial of degree at most 3.

\[ P (t) = \sum_{i=0}^{3} a_i (t-t_0)^i \]

Function Documentation

Function::vector_t roboptim::trajectory::addScaleToParameters ( Function::const_vector_ref  p,
Function::value_type  t = 1. 
)
inline
template<typename P >
Freeze<P> roboptim::trajectory::makeFreeze ( P &  problem)
StableTimePoint roboptim::trajectory::operator* ( Function::value_type  alpha,
TMax   
)
inline
StableTimePoint roboptim::trajectory::operator* ( TMax  ,
Function::value_type  alpha 
)
inline
template<int N>
Polynomial< N > roboptim::trajectory::operator* ( typename Polynomial< N >::value_type  lambda,
const Polynomial< N > &  poly 
)
template<int N>
std::ostream & roboptim::trajectory::operator<< ( std::ostream &  stream,
const Polynomial< N > &  p 
)

Print a polynomial to a given output stream.

Template Parameters
Npolynomial degree.
Parameters
ooutput stream.
ppolynomial.
Returns
output stream.
Function::vector_t roboptim::trajectory::removeScaleFromParameters ( Function::const_vector_ref  v)
inline
boost::shared_ptr<VectorInterpolation> roboptim::trajectory::vectorInterpolation ( VectorInterpolation::vector_t  x,
VectorInterpolation::size_type  outputSize,
VectorInterpolation::value_type  dt = 1. 
)
inline

Variable Documentation