BipedalLocomotion::Planners::CubicSpline class
#include <BipedalLocomotion/Planners/CubicSpline.h>

Cubic spline implement a 3-rd order polynomial spline in $f\mathbb{R}^n$f.

Base classes

class Spline: spline implement an interface for a Spline in

Constructors, destructors, conversion operators

CubicSpline(): Constructor.
~CubicSpline(): Destructor.

Public functions

auto setAdvanceTimeStep(const std::chrono::nanoseconds& dt) -> bool final: Set the time step of the advance interface.
auto setKnots(const std::vector<Eigen::VectorXd>& position, const std::vector<std::chrono::nanoseconds>& time) -> bool final: Set the knots of the spline.
auto setInitialConditions(Eigen::Ref<const Eigen::VectorXd> velocity, Eigen::Ref<const Eigen::VectorXd> acceleration) -> bool final: Set the initial condition of the spline.
auto setFinalConditions(Eigen::Ref<const Eigen::VectorXd> velocity, Eigen::Ref<const Eigen::VectorXd> acceleration) -> bool final: Set the final condition of the spline.
auto setInitialConditions(Eigen::Ref<const Eigen::VectorXd> velocity) -> bool: Set the initial condition of the spline.
auto setFinalConditions(Eigen::Ref<const Eigen::VectorXd> velocity) -> bool: Set the final condition of the spline.
auto evaluatePoint(const std::chrono::nanoseconds& t, Eigen::Ref<Eigen::VectorXd> position, Eigen::Ref<Eigen::VectorXd> velocity, Eigen::Ref<Eigen::VectorXd> acceleration) -> bool final: Evaluate the spline at a given point.
auto evaluatePoint(const std::chrono::nanoseconds& t, SplineState& state) -> bool final: Evaluate the spline at a given point.
auto getOutput() const -> const SplineState& final: Get the state of the system.
auto isOutputValid() const -> bool final: Determines the validity of the object retrieved with get()
auto advance() -> bool final: Advance the internal state.

Function documentation

BipedalLocomotion::Planners::CubicSpline::~CubicSpline()

Destructor.

bool BipedalLocomotion::Planners::CubicSpline::setAdvanceTimeStep(const std::chrono::nanoseconds& dt) final

Set the time step of the advance interface.

Parameters
dt	the time step of the advance block.
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Planners::CubicSpline::setKnots(const std::vector<Eigen::VectorXd>& position, const std::vector<std::chrono::nanoseconds>& time) final

Set the knots of the spline.

Parameters
position	position of the knots in $f\mathbb{R}^n$f.
time	vector containing the time instant of the knots.
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Planners::CubicSpline::setInitialConditions(Eigen::Ref<const Eigen::VectorXd> velocity, Eigen::Ref<const Eigen::VectorXd> acceleration) final

Set the initial condition of the spline.

Parameters
velocity	initial velocity (i.e. first derivative).
acceleration	initial acceleration (i.e. second derivative).
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Planners::CubicSpline::setFinalConditions(Eigen::Ref<const Eigen::VectorXd> velocity, Eigen::Ref<const Eigen::VectorXd> acceleration) final

Set the final condition of the spline.

Parameters
velocity	final velocity (i.e. first derivative).
acceleration	final acceleration (i.e. second derivative).
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Planners::CubicSpline::setInitialConditions(Eigen::Ref<const Eigen::VectorXd> velocity)

Set the initial condition of the spline.

Parameters
velocity	initial velocity (i.e. first derivative).
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Planners::CubicSpline::setFinalConditions(Eigen::Ref<const Eigen::VectorXd> velocity)

Set the final condition of the spline.

Parameters
velocity	final velocity (i.e. first derivative).
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Planners::CubicSpline::evaluatePoint(const std::chrono::nanoseconds& t, Eigen::Ref<Eigen::VectorXd> position, Eigen::Ref<Eigen::VectorXd> velocity, Eigen::Ref<Eigen::VectorXd> acceleration) final

Evaluate the spline at a given point.

Parameters
t	instant time
position	position at time t
velocity	velocity at time t
acceleration	acceleration at time t
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Planners::CubicSpline::evaluatePoint(const std::chrono::nanoseconds& t, SplineState& state) final