Drake
spline_generation.h
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1 #pragma once
2 
3 #include <stdexcept>
4 #include <vector>
5 
8 
9 class ConstraintMatrixSingularError : public std::runtime_error {
10  public:
12  : runtime_error("Constraint matrix is singular!"){}
13 };
14 
16  const SplineInformation& spline_information);
17 
19  const std::vector<double>& segment_times, double x0, double xd0, double xf,
20  double xdf, const Eigen::Ref<const Eigen::VectorXd>& xi);
PiecewisePolynomial< double > generateSpline(const SplineInformation &spline_information)
Definition: spline_generation.cc:41
ConstraintMatrixSingularError()
Definition: spline_generation.h:11
Definition: spline_information.h:9
PiecewisePolynomial< double > nWaypointCubicSpline(const std::vector< double > &segment_times, double x0, double xd0, double xf, double xdf, const Eigen::Ref< const Eigen::VectorXd > &xi)
Definition: spline_generation.h:9