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

spline implement an interface for a Spline in

Base classes

template<class Output> class BipedalLocomotion::System::Source<SplineState>: Source is a template specialization of Advanceable and represents a block that does not contains input.

class CubicSpline: Cubic spline implement a 3-rd order polynomial spline in $f\mathbb{R}^n$f.
class QuinticSpline: Quintic spline implement a 5-th order polynomial spline in $f\mathbb{R}^n$f.

auto setAdvanceTimeStep(const std::chrono::nanoseconds& dt) -> bool pure virtual: Set the time step of the advance interface.
auto setKnots(const std::vector<Eigen::VectorXd>& position, const std::vector<std::chrono::nanoseconds>& time) -> bool pure virtual: Set the knots of the spline.
auto setInitialConditions(Eigen::Ref<const Eigen::VectorXd> velocity, Eigen::Ref<const Eigen::VectorXd> acceleration) -> bool pure virtual: Set the initial condition of the spline.
auto setFinalConditions(Eigen::Ref<const Eigen::VectorXd> velocity, Eigen::Ref<const Eigen::VectorXd> acceleration) -> bool pure virtual: 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 pure virtual: Evaluate the spline at a given point.
auto evaluatePoint(const std::chrono::nanoseconds& t, SplineState& state) -> bool pure virtual: Evaluate the spline at a given point.

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.

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.

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.

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.

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.

Evaluate the spline at a given point.

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