Classes
class	BangBangInterpolator
	Interpolator with bang-bang control. More...

class	CubicHermiteSpline
	Cubic Hermite spline. More...

class	CubicInterpolator
	Cubic interpolator. More...

struct	BoundaryConstraint
	Boundary constraint. More...

class	CubicSpline
	Cubic spline. More...

class	Func
	Mathematical function. More...

class	PiecewiseFunc
	Piecewise function. More...

class	Polynomial
	Polynomial function. More...

class	Constant
	Constant function. More...

class	Interpolator
	Interpolator of a sequence of waypoints. More...

Typedefs
template<class T >
using	LinearPolynomial = Polynomial< T, 1 >
	Linear polynomial function. More...

template<class T >
using	QuadraticPolynomial = Polynomial< T, 2 >
	Quadratic polynomial function. More...

template<class T >
using	CubicPolynomial = Polynomial< T, 3 >
	Cubic polynomial function. More...

Enumerations
enum class	BoundaryConstraintType { Velocity = 0 , Acceleration }
	Type of boundary constraint. More...

Functions
template<class T >
T	interpolate (const T &start, const T &end, double ratio)
	Calculate the value interpolating from start to end. More...

template<>
Eigen::Quaterniond	interpolate (const Eigen::Quaterniond &start, const Eigen::Quaterniond &end, double ratio)
	Calculate the Quaternion interpolating from start to end. More...

template<>
Eigen::Matrix3d	interpolate (const Eigen::Matrix3d &start, const Eigen::Matrix3d &end, double ratio)
	Calculate the 3D matrix interpolating from start to end. More...

template<>
sva::PTransformd	interpolate (const sva::PTransformd &start, const sva::PTransformd &end, double ratio)
	Calculate the pose interpolating from start to end. More...

template<class T , class U = T>
U	interpolateDerivative (const T &start, const T &end, double, int order=1)
	Calculate the derivative value interpolating from start to end. More...

template<>
double	interpolateDerivative (const double &start, const double &end, double, int order)
	Calculate the derivative of scalar value interpolating from start to end. More...

template<>
Eigen::Vector3d	interpolateDerivative (const Eigen::Quaterniond &start, const Eigen::Quaterniond &end, double, int order)
	Calculate the derivative of Quaternion interpolating from start to end. More...

template<>
Eigen::Vector3d	interpolateDerivative (const Eigen::Matrix3d &start, const Eigen::Matrix3d &end, double, int order)
	Calculate the derivative of 3D matrix interpolating from start to end. More...

template<>
sva::MotionVecd	interpolateDerivative (const sva::PTransformd &start, const sva::PTransformd &end, double, int order)
	Calculate the derivative of pose interpolating from start to end. More...

template<>
sva::ForceVecd	interpolateDerivative (const sva::ForceVecd &start, const sva::ForceVecd &end, double, int order)
	Calculate the derivative of wrench interpolating from start to end. More...

Typedef Documentation

◆ CubicPolynomial

template<class T >

using TrajColl::CubicPolynomial = typedef Polynomial<T, 3>

Cubic polynomial function.

Definition at line 260 of file Func.h.

◆ LinearPolynomial

template<class T >

using TrajColl::LinearPolynomial = typedef Polynomial<T, 1>

Linear polynomial function.

Definition at line 252 of file Func.h.

◆ QuadraticPolynomial

template<class T >

using TrajColl::QuadraticPolynomial = typedef Polynomial<T, 2>

Quadratic polynomial function.

Definition at line 256 of file Func.h.

Enumeration Type Documentation

◆ BoundaryConstraintType

enum TrajColl::BoundaryConstraintType

strong

Type of boundary constraint.

Enumerator
Velocity	Velocity constraint.
Acceleration	Acceleration constraint.

Definition at line 10 of file CubicSpline.h.

Function Documentation

◆ interpolate() [1/4]

template<>

Eigen::Matrix3d TrajColl::interpolate	(	const Eigen::Matrix3d &	start,
		const Eigen::Matrix3d &	end,
		double	ratio
	)

inline

Calculate the 3D matrix interpolating from start to end.

Parameters

start	start value
end	end value
ratio	interpolation ratio

Definition at line 36 of file ElementInterpolation.h.

◆ interpolate() [2/4]

template<>

Eigen::Quaterniond TrajColl::interpolate	(	const Eigen::Quaterniond &	start,
		const Eigen::Quaterniond &	end,
		double	ratio
	)

inline

Calculate the Quaternion interpolating from start to end.

Parameters

start	start value
end	end value
ratio	interpolation ratio

Definition at line 25 of file ElementInterpolation.h.

◆ interpolate() [3/4]

template<>

sva::PTransformd TrajColl::interpolate	(	const sva::PTransformd &	start,
		const sva::PTransformd &	end,
		double	ratio
	)

inline

Calculate the pose interpolating from start to end.

Parameters

start	start value
end	end value
ratio	interpolation ratio

Definition at line 47 of file ElementInterpolation.h.

◆ interpolate() [4/4]

template<class T >

T TrajColl::interpolate	(	const T &	start,
		const T &	end,
		double	ratio
	)

inline

Calculate the value interpolating from start to end.

Template Parameters

T	value type

Parameters

start	start value
end	end value
ratio	interpolation ratio

Definition at line 14 of file ElementInterpolation.h.

◆ interpolateDerivative() [1/6]

template<>

double TrajColl::interpolateDerivative	(	const double &	start,
		const double &	end,
		double	,
		int	order
	)

inline

Calculate the derivative of scalar value interpolating from start to end.

Parameters

start	start value
end	end value
ratio	interpolation ratio
order	derivative order

Definition at line 85 of file ElementInterpolation.h.

◆ interpolateDerivative() [2/6]

template<>

Eigen::Vector3d TrajColl::interpolateDerivative	(	const Eigen::Matrix3d &	start,
		const Eigen::Matrix3d &	end,
		double	,
		int	order
	)

inline

Calculate the derivative of 3D matrix interpolating from start to end.

Parameters

start	start value
end	end value
ratio	interpolation ratio
order	derivative order

Definition at line 130 of file ElementInterpolation.h.

◆ interpolateDerivative() [3/6]

template<>

Eigen::Vector3d TrajColl::interpolateDerivative	(	const Eigen::Quaterniond &	start,
		const Eigen::Quaterniond &	end,
		double	,
		int	order
	)

inline

Calculate the derivative of Quaternion interpolating from start to end.

Parameters

start	start value
end	end value
ratio	interpolation ratio
order	derivative order

Definition at line 107 of file ElementInterpolation.h.

◆ interpolateDerivative() [4/6]

template<>

sva::ForceVecd TrajColl::interpolateDerivative	(	const sva::ForceVecd &	start,
		const sva::ForceVecd &	end,
		double	,
		int	order
	)

inline

Calculate the derivative of wrench interpolating from start to end.

Parameters

start	start value
end	end value
ratio	interpolation ratio
order	derivative order

Definition at line 175 of file ElementInterpolation.h.

◆ interpolateDerivative() [5/6]

template<>

sva::MotionVecd TrajColl::interpolateDerivative	(	const sva::PTransformd &	start,
		const sva::PTransformd &	end,
		double	,
		int	order
	)

inline

Calculate the derivative of pose interpolating from start to end.

Parameters

start	start value
end	end value
ratio	interpolation ratio
order	derivative order

Definition at line 153 of file ElementInterpolation.h.

◆ interpolateDerivative() [6/6]

template<class T , class U = T>

U TrajColl::interpolateDerivative	(	const T &	start,
		const T &	end,
		double	,
		int	order = `1`
	)

inline

Calculate the derivative value interpolating from start to end.

Template Parameters

T	value type
U	derivative type

Parameters

start	start value
end	end value
ratio	interpolation ratio
order	derivative order

Definition at line 61 of file ElementInterpolation.h.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ CubicPolynomial

◆ LinearPolynomial

◆ QuadraticPolynomial

Enumeration Type Documentation

◆ BoundaryConstraintType

Function Documentation

◆ interpolate() [1/4]

◆ interpolate() [2/4]

◆ interpolate() [3/4]

◆ interpolate() [4/4]

◆ interpolateDerivative() [1/6]

◆ interpolateDerivative() [2/6]

◆ interpolateDerivative() [3/6]

◆ interpolateDerivative() [4/6]

◆ interpolateDerivative() [5/6]

◆ interpolateDerivative() [6/6]