Decorate a trajectory to make time scalable. More...
#include <roboptim/trajectory/free-time-trajectory.hh>
Public Types | |
typedef Trajectory < T::derivabilityOrder > | parent_t |
Parent type. | |
typedef T | fixedTimeTrajectory_t |
Fixed point trajectory type. | |
typedef FreeTimeTrajectory< T > | self_t |
Self type. | |
typedef parent_t::value_type | value_type |
Import value type. | |
typedef parent_t::size_type | size_type |
Import size type. | |
typedef parent_t::result_t | result_t |
Import result type. | |
typedef parent_t::gradient_t | gradient_t |
Import gradient type. | |
typedef parent_t::vector_t | vector_t |
Import vector type. | |
typedef parent_t::jacobian_t | jacobian_t |
Import jacobian type. | |
typedef parent_t::interval_t | interval_t |
Import interval type. | |
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typedef NTimesDerivableFunction < DerivabilityOrder > | parent_t |
Parent type. | |
typedef parent_t::value_type | value_type |
Import value type. | |
typedef parent_t::size_type | size_type |
Import size type. | |
typedef parent_t::vector_t | vector_t |
Import vector type. | |
typedef parent_t::result_t | result_t |
Import result type. | |
typedef parent_t::gradient_t | gradient_t |
Import gradient type. | |
typedef parent_t::jacobian_t | jacobian_t |
Import jacobian type. | |
typedef parent_t::interval_t | interval_t |
Import interval type. |
Public Member Functions | |
FreeTimeTrajectory (const fixedTimeTrajectory_t &traj, value_type s) throw () | |
FreeTimeTrajectory (const self_t &traj) throw () | |
virtual | ~FreeTimeTrajectory () throw () |
virtual jacobian_t | variationConfigWrtParam (double t) const throw () |
Get the variation of a configuration with respect to parameter vector. | |
virtual jacobian_t | variationDerivWrtParam (double t, size_type order) const throw () |
Get the variation of a derivative with respect to parameter vector. | |
virtual value_type | singularPointAtRank (size_type rank) const |
Get singular point at given rank. | |
virtual vector_t | derivBeforeSingularPoint (size_type rank, size_type order) const |
Get left limit value of derivative at given singular point. | |
virtual vector_t | derivAfterSingularPoint (size_type rank, size_type order) const |
Get right limit value of derivative at given singular point. | |
virtual void | setParameters (const vector_t &) throw () |
value_type | timeScale () const throw () |
Get time scale factor. | |
size_type | getTimeScalingIndex () const throw () |
virtual std::ostream & | print (std::ostream &o) const throw () |
Display the function on the specified output stream. | |
virtual void | normalizeAngles (size_type index) throw () |
Normalize angles in parameters array. | |
const fixedTimeTrajectory_t & | getFixedTimeTrajectory () const throw () |
self_t * | resize (interval_t timeRange) const throw () |
Clone and resize a trajectory. | |
fixedTimeTrajectory_t * | makeFixedTimeTrajectory () const throw () |
double | scaleTime (double t) const throw () |
Scale input time argument. | |
double | unscaleTime (double t) const throw () |
jacobian_t | variationConfigWrtParam (StableTimePoint tp) const throw () |
jacobian_t | variationDerivWrtParam (StableTimePoint tp, size_type order) const throw () |
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virtual | ~Trajectory () throw () |
result_t | operator() (StableTimePoint argument) const throw () |
void | operator() (result_t &result, StableTimePoint argument) const throw () |
gradient_t | derivative (StableTimePoint argument, size_type order=1) const throw () |
void | derivative (gradient_t &derivative, StableTimePoint argument, size_type order=1) const throw () |
bool | isValidTime (value_type t) const throw () |
virtual Trajectory < DerivabilityOrder > * | clone () const =0 throw () |
const vector_t & | parameters () const throw () |
interval_t | timeRange () const throw () |
value_type | length () const throw () |
virtual vector_t | state (double t, size_type order) const throw () |
Get state along trajectory. | |
virtual vector_t | state (StableTimePoint t, size_type order) const throw () |
jacobian_t | variationStateWrtParam (double t, size_type order) const throw () |
Get the variation of the state with respect to parameter vector. | |
jacobian_t | variationStateWrtParam (StableTimePoint stp, size_type order) const throw () |
size_type | singularPoints () const throw () |
Get number of singular points. |
Protected Member Functions | |
void | impl_compute (result_t &, double) const throw () |
void | impl_derivative (gradient_t &g, double x, size_type order) const throw () |
void | impl_derivative (gradient_t &g, StableTimePoint, size_type order) const throw () |
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virtual void | normalizeAngles (size_type index, size_type offset) throw () |
Internal version of normalizeAngles allowing an optional offset. | |
void | impl_compute (result_t &, StableTimePoint) const throw () |
Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) throw () |
Additional Inherited Members | |
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interval_t | timeRange_ |
vector_t | parameters_ |
size_type | singularPoints_ |
Decorate a trajectory to make time scalable.
Build a trajectory from an input trajectory and a time scale factor.
typedef T roboptim::FreeTimeTrajectory< T >::fixedTimeTrajectory_t |
Fixed point trajectory type.
typedef parent_t::gradient_t roboptim::FreeTimeTrajectory< T >::gradient_t |
Import gradient type.
typedef parent_t::interval_t roboptim::FreeTimeTrajectory< T >::interval_t |
Import interval type.
typedef parent_t::jacobian_t roboptim::FreeTimeTrajectory< T >::jacobian_t |
Import jacobian type.
typedef Trajectory<T::derivabilityOrder> roboptim::FreeTimeTrajectory< T >::parent_t |
Parent type.
typedef parent_t::result_t roboptim::FreeTimeTrajectory< T >::result_t |
Import result type.
typedef FreeTimeTrajectory<T> roboptim::FreeTimeTrajectory< T >::self_t |
Self type.
typedef parent_t::size_type roboptim::FreeTimeTrajectory< T >::size_type |
Import size type.
typedef parent_t::value_type roboptim::FreeTimeTrajectory< T >::value_type |
Import value type.
typedef parent_t::vector_t roboptim::FreeTimeTrajectory< T >::vector_t |
Import vector type.
roboptim::FreeTimeTrajectory< T >::FreeTimeTrajectory | ( | const fixedTimeTrajectory_t & | traj, |
value_type | s | ||
) | throw () |
Constructor with fixed definition interval trajectory
traj | trajectory defining this one by reparameterization |
s | time scale |
roboptim::FreeTimeTrajectory< T >::FreeTimeTrajectory | ( | const self_t & | traj | ) | throw () |
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Get right limit value of derivative at given singular point.
rank | rank of the singular points. |
order | order of derivation. |
derivative | Limit of the derivative at singular point for decreasing parameter values. |
Implements roboptim::Trajectory< T::derivabilityOrder >.
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Get left limit value of derivative at given singular point.
rank | rank of the singular points. |
order | order of derivation. |
Implements roboptim::Trajectory< T::derivabilityOrder >.
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Implements roboptim::Trajectory< T::derivabilityOrder >.
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Normalize angles in parameters array.
Make sure angles are continuous.
index | Angles index in parameter array. |
Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.
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Display the function on the specified output stream.
o | output stream used for display |
Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.
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Clone and resize a trajectory.
Implements roboptim::Trajectory< T::derivabilityOrder >.
References roboptim::FreeTimeTrajectory< T >::scaleTime(), roboptim::Trajectory< DerivabilityOrder >::timeRange(), roboptim::Trajectory< T::derivabilityOrder >::timeRange(), and roboptim::tMax.
double roboptim::FreeTimeTrajectory< T >::scaleTime | ( | double | t | ) | const throw () |
Scale input time argument.
Scale input argument with the same factor that the input trajectory:
where is the input trajectory time range and
the scale factor.
t | input time |
Referenced by roboptim::FreeTimeTrajectory< T >::resize().
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Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.
References roboptim::removeScaleFromParameters().
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Get singular point at given rank.
Implements roboptim::Trajectory< T::derivabilityOrder >.
FreeTimeTrajectory< T >::value_type roboptim::FreeTimeTrajectory< T >::timeScale | ( | ) | const throw () |
Get time scale factor.
double roboptim::FreeTimeTrajectory< T >::unscaleTime | ( | double | t | ) | const throw () |
References roboptim::tMax.
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Get the variation of a configuration with respect to parameter vector.
t | value ![]() |
Implements roboptim::Trajectory< T::derivabilityOrder >.
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Implements roboptim::Trajectory< T::derivabilityOrder >.
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Get the variation of a derivative with respect to parameter vector.
t | value ![]() |
order | order ![]() |
Implements roboptim::Trajectory< T::derivabilityOrder >.
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Implements roboptim::Trajectory< T::derivabilityOrder >.