Drake
SplineInformation Class Reference

#include <common/trajectories/qp_spline/spline_information.h>

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Public Member Functions

virtual ~SplineInformation ()
 
 SplineInformation (std::vector< int > const &segment_polynomial_orders, std::vector< double > const &breaks)
 
virtual int getSegmentPolynomialDegree (int segment_number, Eigen::Index row, Eigen::Index cols) const
 
virtual Eigen::Index rows () const
 
virtual Eigen::Index cols () const
 
std::vector< ValueConstraint > const & getValueConstraints (int segment_number) const
 
std::vector< ContinuityConstraint > const & getContinuityConstraints () const
 
void addValueConstraint (int segment_index, ValueConstraint const &constraint)
 
int getNumberOfConstraints () const
 
void addContinuityConstraint (ContinuityConstraint const &constraint)
 
std::vector< double > const & getSegmentTimes () const
 
- Public Member Functions inherited from PiecewisePolynomialBase
 PiecewisePolynomialBase (std::vector< double > const &breaks)
 
virtual ~PiecewisePolynomialBase ()
 
int getNumberOfCoefficients (int segment_number, Eigen::Index row=0, Eigen::Index col=0) const
 
int getTotalNumberOfCoefficients (Eigen::Index row=0, Eigen::Index col=0) const
 
- Public Member Functions inherited from PiecewiseFunction
 PiecewiseFunction (std::vector< double > const &breaks)
 
virtual ~PiecewiseFunction ()
 
int getNumberOfSegments () const
 
double getStartTime (int segment_number) const
 
double getEndTime (int segment_number) const
 
double getDuration (int segment_number) const
 
double getStartTime () const
 
double getEndTime () const
 
bool isTimeInRange (double t) const
 Returns true iff t >= getStartTime() && t <= getEndTime(). More...
 
int getSegmentIndex (double t) const
 
const std::vector< double > & getSegmentTimes () const
 
void segmentNumberRangeCheck (int segment_number) const
 

Additional Inherited Members

- Static Public Member Functions inherited from PiecewiseFunction
static std::vector< doublerandomSegmentTimes (int num_segments, std::default_random_engine &generator)
 
- Static Public Attributes inherited from PiecewiseFunction
static constexpr double kEpsilonTime = 1e-10
 Minimum delta quantity used for comparing time. More...
 
- Protected Member Functions inherited from PiecewisePolynomialBase
 PiecewisePolynomialBase ()
 
- Protected Member Functions inherited from PiecewiseFunction
bool segmentTimesEqual (const PiecewiseFunction &b, double tol=kEpsilonTime) const
 
void checkScalarValued () const
 
 PiecewiseFunction ()
 
- Protected Attributes inherited from PiecewiseFunction
std::vector< doublebreaks
 

Constructor & Destructor Documentation

virtual ~SplineInformation ( )
inlinevirtual

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SplineInformation ( std::vector< int > const &  segment_polynomial_orders,
std::vector< double > const &  breaks 
)

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Member Function Documentation

void addContinuityConstraint ( ContinuityConstraint const &  constraint)

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void addValueConstraint ( int  segment_index,
ValueConstraint const &  constraint 
)

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Eigen::Index cols ( ) const
virtual

Implements PiecewiseFunction.

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std::vector< ContinuityConstraint > const & getContinuityConstraints ( ) const

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int getNumberOfConstraints ( ) const

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int getSegmentPolynomialDegree ( int  segment_number,
Eigen::Index  row,
Eigen::Index  cols 
) const
virtual

Implements PiecewisePolynomialBase.

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std::vector< double > const & getSegmentTimes ( ) const

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std::vector< ValueConstraint > const & getValueConstraints ( int  segment_number) const

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Eigen::Index rows ( ) const
virtual

Implements PiecewiseFunction.

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