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

Quintic spline implement a 5-th order polynomial spline in $f\mathbb{R}^n$f.

Base classes

class Spline
spline implement an interface for a Spline in $\mathbb{R}^n$

Constructors, destructors, conversion operators

QuinticSpline()
Constructor.
~QuinticSpline()
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 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::QuinticSpline::~QuinticSpline()

Destructor.

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

Evaluate the spline at a given point.

Parameters
t instant time
state of the system
Returns True in case of success, false otherwise.

const SplineState& BipedalLocomotion::Planners::QuinticSpline::getOutput() const final

Get the state of the system.

Returns a const reference of the requested object.

bool BipedalLocomotion::Planners::QuinticSpline::isOutputValid() const final

Determines the validity of the object retrieved with get()

Returns True if the object is valid, false otherwise.

bool BipedalLocomotion::Planners::QuinticSpline::advance() final

Advance the internal state.

Returns True if the advance is successfull.

This may change the value retrievable from get().