Drake
spline_generation.cc File Reference
#include "drake/common/trajectories/qp_spline/spline_generation.h"
#include <iostream>
#include <numeric>
#include <sstream>
#include <stdexcept>
#include <Eigen/Dense>
#include "drake/common/drake_assert.h"
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Functions

template<typename DerivedM >
void setConstraintMatrixPart (double time, int derivative_order, MatrixBase< DerivedM > &constraint_matrix, double scaling=1.0)
 
PiecewisePolynomial< doublegenerateSpline (const SplineInformation &spline_information)
 
PiecewisePolynomial< doublenWaypointCubicSpline (const vector< double > &segment_times, double x0, double xd0, double xf, double xdf, const Ref< const VectorXd > &xi)
 

Function Documentation

PiecewisePolynomial<double> generateSpline ( const SplineInformation spline_information)

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PiecewisePolynomial<double> nWaypointCubicSpline ( const vector< double > &  segment_times,
double  x0,
double  xd0,
double  xf,
double  xdf,
const Ref< const VectorXd > &  xi 
)

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void setConstraintMatrixPart ( double  time,
int  derivative_order,
MatrixBase< DerivedM > &  constraint_matrix,
double  scaling = 1.0 
)

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