Detailed Description

template<typename T>
class drake::trajectories::BsplineTrajectory< T >

Represents a B-spline curve using a given basis with ordered control_points such that each control point is a matrix in ℝʳᵒʷˢ ˣ ᶜᵒˡˢ.

See also: math::BsplineBasis

Template Parameters

T	The scalar type, which must be one of the default scalars.

#include <drake/common/trajectories/bspline_trajectory.h>

Public Member Functions
	BsplineTrajectory ()

	BsplineTrajectory (math::BsplineBasis< T > basis, std::vector< MatrixX< T >> control_points)
	Constructs a B-spline trajectory with the given `basis` and `control_points`. More...

	BsplineTrajectory (math::BsplineBasis< double > basis, std::vector< MatrixX< T >> control_points)
	Constructs a T-valued B-spline trajectory from a double-valued `basis` and T-valued `control_points`. More...

virtual	~BsplineTrajectory ()=default

std::unique_ptr< trajectories::Trajectory< T > >	Clone () const override

MatrixX< T >	value (const T &time) const override
	Evaluates the BsplineTrajectory at the given time t. More...

Eigen::Index	rows () const override

Eigen::Index	cols () const override

T	start_time () const override

T	end_time () const override

int	num_control_points () const
	Returns the number of control points in this curve. More...

const std::vector< MatrixX< T > > &	control_points () const
	Returns the control points of this curve. More...

MatrixX< T >	InitialValue () const
	Returns this->value(this->start_time()) More...

MatrixX< T >	FinalValue () const
	Returns this->value(this->end_time()) More...

const math::BsplineBasis< T > &	basis () const
	Returns the basis of this curve. More...

void	InsertKnots (const std::vector< T > &additional_knots)
	Adds new knots at the specified `additional_knots` without changing the behavior of the trajectory. More...

BsplineTrajectory< T >	CopyWithSelector (const std::function< MatrixX< T >(const MatrixX< T > &)> &select) const
	Returns a new BsplineTrajectory that uses the same basis as `this`, and whose control points are the result of calling `select(point)` on each `point` in `this->control_points()`. More...

BsplineTrajectory< T >	CopyBlock (int start_row, int start_col, int block_rows, int block_cols) const
	Returns a new BsplineTrajectory that uses the same basis as `this`, and whose control points are the result of calling `point.block(start_row, start_col, block_rows, block_cols)` on each `point` in `this->control_points()`. More...

BsplineTrajectory< T >	CopyHead (int n) const
	Returns a new BsplineTrajectory that uses the same basis as `this`, and whose control points are the result of calling `point.head(n)` on each `point` in `this->control_points()`. More...

boolean< T >	operator== (const BsplineTrajectory< T > &other) const

template<typename Archive >
void	Serialize (Archive *a)
	Passes this object to an Archive. More...

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	BsplineTrajectory (const BsplineTrajectory &)=default

BsplineTrajectory &	operator= (const BsplineTrajectory &)=default

	BsplineTrajectory (BsplineTrajectory &&)=default

BsplineTrajectory &	operator= (BsplineTrajectory &&)=default

Public Member Functions inherited from Trajectory< T >
virtual	~Trajectory ()=default

MatrixX< T >	vector_values (const std::vector< T > &t) const
	If cols()==1, then evaluates the trajectory at each time `t`, and returns the results as a Matrix with the ith column corresponding to the ith time. More...

MatrixX< T >	vector_values (const Eigen::Ref< const VectorX< T >> &t) const
	If cols()==1, then evaluates the trajectory at each time `t`, and returns the results as a Matrix with the ith column corresponding to the ith time. More...

bool	has_derivative () const
	Returns true iff the Trajectory provides and implementation for EvalDerivative() and MakeDerivative(). More...

MatrixX< T >	EvalDerivative (const T &t, int derivative_order=1) const
	Evaluates the derivative of `this` at the given time `t`. More...

std::unique_ptr< Trajectory< T > >	MakeDerivative (int derivative_order=1) const
	Takes the derivative of this Trajectory. More...

Additional Inherited Members
Protected Member Functions inherited from Trajectory< T >
	Trajectory ()=default

	Trajectory (const Trajectory &)=default

Trajectory &	operator= (const Trajectory &)=default

	Trajectory (Trajectory &&)=default

Trajectory &	operator= (Trajectory &&)=default

Constructor & Destructor Documentation

◆ BsplineTrajectory() [1/5]

BsplineTrajectory ( const BsplineTrajectory< T > & )

default

◆ BsplineTrajectory() [2/5]

BsplineTrajectory ( BsplineTrajectory< T > && )

default

◆ BsplineTrajectory() [3/5]

BsplineTrajectory ( )

◆ BsplineTrajectory() [4/5]

BsplineTrajectory	(	math::BsplineBasis< T >	basis,
		std::vector< MatrixX< T >>	control_points
	)

Constructs a B-spline trajectory with the given basis and control_points.

Precondition: control_points.size() == basis.num_basis_functions()

◆ BsplineTrajectory() [5/5]

BsplineTrajectory	(	math::BsplineBasis< double >	basis,
		std::vector< MatrixX< T >>	control_points
	)

Constructs a T-valued B-spline trajectory from a double-valued basis and T-valued control_points.

Precondition: control_points.size() == basis.num_basis_functions()

◆ ~BsplineTrajectory()

virtual ~BsplineTrajectory ( )

virtualdefault

Member Function Documentation

◆ basis()

const math::BsplineBasis<T>& basis ( ) const

Returns the basis of this curve.

◆ Clone()

std::unique_ptr<trajectories::Trajectory<T> > Clone ( ) const

overridevirtual

Returns: A deep copy of this Trajectory.

Implements Trajectory< T >.

◆ cols()

Eigen::Index cols ( ) const

overridevirtual

Returns: The number of columns in the matrix returned by value().

Implements Trajectory< T >.

◆ control_points()

const std::vector<MatrixX<T> >& control_points ( ) const

Returns the control points of this curve.

◆ CopyBlock()

BsplineTrajectory<T> CopyBlock	(	int	start_row,
		int	start_col,
		int	block_rows,
		int	block_cols
	)		const

Returns a new BsplineTrajectory that uses the same basis as this, and whose control points are the result of calling point.block(start_row, start_col, block_rows, block_cols) on each point in this->control_points().

◆ CopyHead()

BsplineTrajectory<T> CopyHead ( int n ) const

Returns a new BsplineTrajectory that uses the same basis as this, and whose control points are the result of calling point.head(n) on each point in this->control_points().

Precondition: this->cols() == 1; control_points()[0].head(n) must be a valid operation.

◆ CopyWithSelector()

BsplineTrajectory<T> CopyWithSelector ( const std::function< MatrixX< T >(const MatrixX< T > &)> & select ) const

Returns a new BsplineTrajectory that uses the same basis as this, and whose control points are the result of calling select(point) on each point in this->control_points().

◆ end_time()

T end_time ( ) const

overridevirtual

Implements Trajectory< T >.

◆ FinalValue()

MatrixX<T> FinalValue ( ) const

Returns this->value(this->end_time())

◆ InitialValue()

MatrixX<T> InitialValue ( ) const

Returns this->value(this->start_time())

◆ InsertKnots()

void InsertKnots ( const std::vector< T > & additional_knots )

Adds new knots at the specified additional_knots without changing the behavior of the trajectory.

The basis and control points of the trajectory are adjusted such that it produces the same value for any valid time before and after this method is called. The resulting trajectory is guaranteed to have the same level of continuity as the original, even if knot values are duplicated. Note that additional_knots need not be sorted.

Precondition: start_time() <= t <= end_time() for all t in additional_knots

◆ num_control_points()

int num_control_points ( ) const

Returns the number of control points in this curve.

◆ operator=() [1/2]

BsplineTrajectory& operator= ( BsplineTrajectory< T > && )

default

◆ operator=() [2/2]

BsplineTrajectory& operator= ( const BsplineTrajectory< T > & )

default

◆ operator==()

boolean<T> operator== ( const BsplineTrajectory< T > & other ) const

◆ rows()

Eigen::Index rows ( ) const

overridevirtual

Returns: The number of rows in the matrix returned by value().

Implements Trajectory< T >.

◆ Serialize()

void Serialize ( Archive * a )

Passes this object to an Archive.

Refer to YAML Serialization for background. This method is only available when T = double.

◆ start_time()

T start_time ( ) const

overridevirtual

Implements Trajectory< T >.

◆ value()

MatrixX<T> value ( const T & time ) const

overridevirtual

Evaluates the BsplineTrajectory at the given time t.

Parameters

t	The time at which to evaluate the BsplineTrajectory.

Returns: The matrix of evaluated values.

Precondition: If T == symbolic::Expression, t.is_constant() must be true.

Warning: If t does not lie in the range [start_time(), end_time()], the trajectory will silently be evaluated at the closest valid value of time to t. For example, value(-1) will return value(0) for a trajectory defined over [0, 1].

Implements Trajectory< T >.

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

drake/common/trajectories/bspline_trajectory.h

Detailed Description

template<typename T> class drake::trajectories::BsplineTrajectory< T >

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ BsplineTrajectory() [1/5]

◆ BsplineTrajectory() [2/5]

◆ BsplineTrajectory() [3/5]

◆ BsplineTrajectory() [4/5]

◆ BsplineTrajectory() [5/5]

◆ ~BsplineTrajectory()

Member Function Documentation

◆ basis()

◆ Clone()

◆ cols()

◆ control_points()

◆ CopyBlock()

◆ CopyHead()

◆ CopyWithSelector()

◆ end_time()

◆ FinalValue()

◆ InitialValue()

◆ InsertKnots()

◆ num_control_points()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ rows()

◆ Serialize()

◆ start_time()

◆ value()

template<typename T>
class drake::trajectories::BsplineTrajectory< T >