Drake
spline_information.h
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1 #pragma once
2 
3 #include <vector>
4 
8 
10  private:
11  std::vector<int> segment_polynomial_degrees;
12  std::vector<std::vector<ValueConstraint> > value_constraints;
13  std::vector<ContinuityConstraint> continuity_constraints;
14 
15  public:
16  virtual ~SplineInformation() {}
17 
18  SplineInformation(std::vector<int> const& segment_polynomial_orders,
19  std::vector<double> const& breaks);
20 
21  virtual int getSegmentPolynomialDegree(int segment_number, Eigen::Index row,
22  Eigen::Index cols) const;
23 
24  virtual Eigen::Index rows() const;
25 
26  virtual Eigen::Index cols() const;
27 
28  std::vector<ValueConstraint> const& getValueConstraints(
29  int segment_number) const;
30 
31  std::vector<ContinuityConstraint> const& getContinuityConstraints() const;
32 
33  void addValueConstraint(int segment_index, ValueConstraint const& constraint);
34 
35  int getNumberOfConstraints() const;
36 
37  void addContinuityConstraint(ContinuityConstraint const& constraint);
38 
39  std::vector<double> const& getSegmentTimes() const;
40 };
virtual int getSegmentPolynomialDegree(int segment_number, Eigen::Index row, Eigen::Index cols) const
Definition: spline_information.cc:50
std::vector< ValueConstraint > const & getValueConstraints(int segment_number) const
Definition: spline_information.cc:21
virtual Eigen::Index cols() const
Definition: spline_information.cc:59
virtual ~SplineInformation()
Definition: spline_information.h:16
std::vector< ContinuityConstraint > const & getContinuityConstraints() const
Definition: spline_information.cc:27
virtual Eigen::Index rows() const
Definition: spline_information.cc:57
const Constraint * constraint
Definition: nlopt_solver.cc:102
void addContinuityConstraint(ContinuityConstraint const &constraint)
Definition: spline_information.cc:41
std::vector< double > const & getSegmentTimes() const
Definition: spline_information.cc:46
Definition: spline_information.h:9
std::vector< double > breaks
Definition: piecewise_function.h:10
SplineInformation(std::vector< int > const &segment_polynomial_orders, std::vector< double > const &breaks)
Definition: spline_information.cc:7
Definition: value_constraint.h:3
Definition: continuity_constraint.h:3
Definition: piecewise_polynomial_base.h:9
int getNumberOfConstraints() const
Definition: spline_information.cc:31
void addValueConstraint(int segment_index, ValueConstraint const &constraint)
Definition: spline_information.cc:16