Robotics Library  0.7.0
Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | Static Private Member Functions | List of all members
rl::math::Spline< Quaternion > Class Reference

#include <SplineQuaternion.h>

Inheritance diagram for rl::math::Spline< Quaternion >:
Inheritance graph
[legend]

Public Types

typedef ::std::vector< Polynomial< Quaternion > >::const_iterator ConstIterator
 
typedef ::std::vector< Polynomial< Quaternion > >::const_reverse_iterator ConstReverseIterator
 
typedef ::std::vector< Polynomial< Quaternion > >::iterator Iterator
 
typedef ::std::vector< Polynomial< Quaternion > >::reverse_iterator ReverseIterator
 

Public Member Functions

 Spline ()
 
virtual ~Spline ()
 
Polynomial< Quaternion > & at (const ::std::size_t &i)
 
const Polynomial< Quaternion > & at (const ::std::size_t &i) const
 
Polynomial< Quaternion > & back ()
 
const Polynomial< Quaternion > & back () const
 
Iterator begin ()
 
ConstIterator begin () const
 
void clear ()
 
Spline< Quaternion > * clone () const
 
Real duration () const
 
bool empty ()
 
Iterator end ()
 
ConstIterator end () const
 
Polynomial< Quaternion > & front ()
 
const Polynomial< Quaternion > & front () const
 
Real & lower ()
 
const Real & lower () const
 
Quaternion operator() (const Real &x, const ::std::size_t &derivative=0) const
 Evaluates the function or a derivative thereof for a given value x. More...
 
Polynomial< Quaternion > & operator[] (const ::std::size_t &i)
 
const Polynomial< Quaternion > & operator[] (const ::std::size_t &i) const
 
void pop_back ()
 
void push_back (Polynomial< Quaternion > &polynomial)
 
::std::size_t size () const
 
ReverseIterator rbegin ()
 
ConstReverseIterator rbegin () const
 
ReverseIterator rend ()
 
ConstReverseIterator rend () const
 
Real & upper ()
 
const Real & upper () const
 
- Public Member Functions inherited from rl::math::Function< Quaternion >
 Function ()
 
virtual ~Function ()
 
virtual Function * clone () const=0
 
Real duration () const
 
Real & lower ()
 
const Real & lower () const
 
Real & upper ()
 
const Real & upper () const
 

Static Public Member Functions

static Spline< Quaternion > CubicFirst (const ::std::vector< Real > &x, const ::std::vector< Quaternion > &y, const Vector3 &yd0, const Vector3 &yd1)
 

Protected Attributes

::std::vector< Polynomial< Quaternion > > polynomials
 
Real x0
 
Real x1
 
- Protected Attributes inherited from rl::math::Function< Quaternion >
Real x0
 
Real x1
 

Static Private Member Functions

static Vector3 B (const Vector3 &e, const Real &dtheta, const Vector3 &x)
 
static Vector3 invB (const Vector3 &e, const Real &dtheta, const Vector3 &x)
 
static Vector3 R (const Vector3 &e, const Real &dtheta, const Vector3 &omega)
 

Member Typedef Documentation

◆ ConstIterator

typedef ::std::vector<Polynomial<Quaternion> >::const_iterator rl::math::Spline< Quaternion >::ConstIterator

◆ ConstReverseIterator

typedef ::std::vector<Polynomial<Quaternion> >::const_reverse_iterator rl::math::Spline< Quaternion >::ConstReverseIterator

◆ Iterator

typedef ::std::vector<Polynomial<Quaternion> >::iterator rl::math::Spline< Quaternion >::Iterator

◆ ReverseIterator

typedef ::std::vector<Polynomial<Quaternion> >::reverse_iterator rl::math::Spline< Quaternion >::ReverseIterator

Constructor & Destructor Documentation

◆ Spline()

rl::math::Spline< Quaternion >::Spline ( )
inline

◆ ~Spline()

virtual rl::math::Spline< Quaternion >::~Spline ( )
inlinevirtual

Member Function Documentation

◆ at() [1/2]

Polynomial<Quaternion>& rl::math::Spline< Quaternion >::at ( const ::std::size_t &  i)
inline

◆ at() [2/2]

const Polynomial<Quaternion>& rl::math::Spline< Quaternion >::at ( const ::std::size_t &  i) const
inline

◆ B()

static Vector3 rl::math::Spline< Quaternion >::B ( const Vector3 &  e,
const Real &  dtheta,
const Vector3 &  x 
)
inlinestaticprivate

◆ back() [1/2]

Polynomial<Quaternion>& rl::math::Spline< Quaternion >::back ( )
inline

◆ back() [2/2]

const Polynomial<Quaternion>& rl::math::Spline< Quaternion >::back ( ) const
inline

◆ begin() [1/2]

Iterator rl::math::Spline< Quaternion >::begin ( )
inline

◆ begin() [2/2]

ConstIterator rl::math::Spline< Quaternion >::begin ( ) const
inline

◆ clear()

void rl::math::Spline< Quaternion >::clear ( )
inline

◆ clone()

Spline<Quaternion>* rl::math::Spline< Quaternion >::clone ( ) const
inline

◆ CubicFirst()

static Spline<Quaternion> rl::math::Spline< Quaternion >::CubicFirst ( const ::std::vector< Real > &  x,
const ::std::vector< Quaternion > &  y,
const Vector3 &  yd0,
const Vector3 &  yd1 
)
inlinestatic

◆ duration()

Real rl::math::Spline< Quaternion >::duration ( ) const
inline

◆ empty()

bool rl::math::Spline< Quaternion >::empty ( )
inline

◆ end() [1/2]

Iterator rl::math::Spline< Quaternion >::end ( )
inline

◆ end() [2/2]

ConstIterator rl::math::Spline< Quaternion >::end ( ) const
inline

◆ front() [1/2]

Polynomial<Quaternion>& rl::math::Spline< Quaternion >::front ( )
inline

◆ front() [2/2]

const Polynomial<Quaternion>& rl::math::Spline< Quaternion >::front ( ) const
inline

◆ invB()

static Vector3 rl::math::Spline< Quaternion >::invB ( const Vector3 &  e,
const Real &  dtheta,
const Vector3 &  x 
)
inlinestaticprivate

◆ lower() [1/2]

Real& rl::math::Spline< Quaternion >::lower ( )
inline

◆ lower() [2/2]

const Real& rl::math::Spline< Quaternion >::lower ( ) const
inline

◆ operator()()

Quaternion rl::math::Spline< Quaternion >::operator() ( const Real &  x,
const ::std::size_t &  derivative = 0 
) const
inlinevirtual

Evaluates the function or a derivative thereof for a given value x.

Some functions are only defined in the interval [lower(), upper()], and fail to evaluate outside of [lower() - FUNCTION_BOUNDARY, upper() + FUNCTION_BOUNDARY]. In Debug mode, this is signaled by failing asserts. In Release mode, the function is evaluated if algebraically possible, or will return an empty ArrayX otherwise. Some functions are not indefinitely often differentiable, and will return a NaN array for all higher orders.

Parameters
[in]xInput value of the function or derivative
[in]derivativeOrder of the derivative to be evaluated

Implements rl::math::Function< Quaternion >.

◆ operator[]() [1/2]

Polynomial<Quaternion>& rl::math::Spline< Quaternion >::operator[] ( const ::std::size_t &  i)
inline

◆ operator[]() [2/2]

const Polynomial<Quaternion>& rl::math::Spline< Quaternion >::operator[] ( const ::std::size_t &  i) const
inline

◆ pop_back()

void rl::math::Spline< Quaternion >::pop_back ( )
inline

◆ push_back()

void rl::math::Spline< Quaternion >::push_back ( Polynomial< Quaternion > &  polynomial)
inline

◆ R()

static Vector3 rl::math::Spline< Quaternion >::R ( const Vector3 &  e,
const Real &  dtheta,
const Vector3 &  omega 
)
inlinestaticprivate

◆ rbegin() [1/2]

ReverseIterator rl::math::Spline< Quaternion >::rbegin ( )
inline

◆ rbegin() [2/2]

ConstReverseIterator rl::math::Spline< Quaternion >::rbegin ( ) const
inline

◆ rend() [1/2]

ReverseIterator rl::math::Spline< Quaternion >::rend ( )
inline

◆ rend() [2/2]

ConstReverseIterator rl::math::Spline< Quaternion >::rend ( ) const
inline

◆ size()

::std::size_t rl::math::Spline< Quaternion >::size ( ) const
inline

◆ upper() [1/2]

Real& rl::math::Spline< Quaternion >::upper ( )
inline

◆ upper() [2/2]

const Real& rl::math::Spline< Quaternion >::upper ( ) const
inline

Member Data Documentation

◆ polynomials

::std::vector<Polynomial<Quaternion> > rl::math::Spline< Quaternion >::polynomials
protected

◆ x0

Real rl::math::Spline< Quaternion >::x0
protected

◆ x1

Real rl::math::Spline< Quaternion >::x1
protected
The documentation for this class was generated from the following file:
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