roboptim::FreeTimeTrajectory< T > Class Template Reference
[Mathematical functions]

Decorate a trajectory to make time scalable. More...

#include <roboptim/trajectory/free-time-trajectory.hh>

Inheritance diagram for roboptim::FreeTimeTrajectory< T >:

Public Types
typedef Trajectory < T::derivabilityOrder >	parent_t
	Parent type.
typedef T	fixedTimeTrajectory_t
	Fixed point trajectory type.
typedef FreeTimeTrajectory< T >	self_t
	Self type.
typedef parent_t::value_type	value_type
	Import value type.
typedef parent_t::size_type	size_type
	Import size type.
typedef parent_t::result_t	result_t
	Import result type.
typedef parent_t::gradient_t	gradient_t
	Import gradient type.
typedef parent_t::vector_t	vector_t
	Import vector type.
typedef parent_t::jacobian_t	jacobian_t
	Import jacobian type.
typedef parent_t::interval_t	interval_t
	Import interval type.
Public Member Functions
	FreeTimeTrajectory (const fixedTimeTrajectory_t &traj, value_type s) throw ()
	FreeTimeTrajectory (const self_t &traj) throw ()
virtual	~FreeTimeTrajectory () throw ()
virtual jacobian_t	variationConfigWrtParam (double t) const throw ()
	Get the variation of a configuration with respect to parameter vector.
virtual jacobian_t	variationDerivWrtParam (double t, size_type order) const throw ()
	Get the variation of a derivative with respect to parameter vector.
virtual value_type	singularPointAtRank (size_type rank) const
	Get singular point at given rank.
virtual vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const
	Get left limit value of derivative at given singular point.
virtual vector_t	derivAfterSingularPoint (size_type rank, size_type order) const
	Get right limit value of derivative at given singular point.
virtual void	setParameters (const vector_t &) throw ()
value_type	timeScale () const throw ()
	Get time scale factor.
size_type	getTimeScalingIndex () const throw ()
virtual std::ostream &	print (std::ostream &o) const throw ()
	Display the function on the specified output stream.
virtual void	normalizeAngles (size_type index) throw ()
	Normalize angles in parameters array.
const fixedTimeTrajectory_t &	getFixedTimeTrajectory () const throw ()
self_t *	resize (interval_t timeRange) const throw ()
	Clone and resize a trajectory.
fixedTimeTrajectory_t *	makeFixedTimeTrajectory () const throw ()
double	scaleTime (double t) const throw ()
	Scale input time argument.
double	unscaleTime (double t) const throw ()
jacobian_t	variationConfigWrtParam (StableTimePoint tp) const throw ()
jacobian_t	variationDerivWrtParam (StableTimePoint tp, size_type order) const throw ()
Protected Member Functions
void	impl_compute (result_t &, double) const throw ()
void	impl_derivative (gradient_t &g, double x, size_type order) const throw ()
void	impl_derivative (gradient_t &g, StableTimePoint, size_type order) const throw ()

Detailed Description

template<typename T>
class roboptim::FreeTimeTrajectory< T >

Decorate a trajectory to make time scalable.

Build a trajectory from an input trajectory and a time scale factor.

Examples:: spline-time-optimization.cc.

Member Typedef Documentation

template<typename T>

typedef T roboptim::FreeTimeTrajectory< T >::fixedTimeTrajectory_t

Fixed point trajectory type.

template<typename T>

typedef parent_t::gradient_t roboptim::FreeTimeTrajectory< T >::gradient_t

Import gradient type.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

typedef parent_t::interval_t roboptim::FreeTimeTrajectory< T >::interval_t

Import interval type.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

typedef parent_t::jacobian_t roboptim::FreeTimeTrajectory< T >::jacobian_t

Import jacobian type.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

typedef Trajectory<T::derivabilityOrder> roboptim::FreeTimeTrajectory< T >::parent_t

Parent type.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

typedef parent_t::result_t roboptim::FreeTimeTrajectory< T >::result_t

Import result type.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

typedef FreeTimeTrajectory<T> roboptim::FreeTimeTrajectory< T >::self_t

Self type.

template<typename T>

typedef parent_t::size_type roboptim::FreeTimeTrajectory< T >::size_type

Import size type.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

typedef parent_t::value_type roboptim::FreeTimeTrajectory< T >::value_type

Import value type.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

typedef parent_t::vector_t roboptim::FreeTimeTrajectory< T >::vector_t

Import vector type.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

Constructor & Destructor Documentation

template<typename T >

roboptim::FreeTimeTrajectory< T >::FreeTimeTrajectory	(	const fixedTimeTrajectory_t &	traj,
		value_type	s
	)			throw () `[inline]`

Constructor with fixed definition interval trajectory

Parameters:

	traj	trajectory defining this one by reparameterization
	s	time scale

template<typename T >

roboptim::FreeTimeTrajectory< T >::FreeTimeTrajectory ( const self_t & traj ) throw () [inline]

template<typename T >

roboptim::FreeTimeTrajectory< T >::~FreeTimeTrajectory ( ) throw () [inline, virtual]

Member Function Documentation

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::FreeTimeTrajectory< T >::derivAfterSingularPoint	(	size_type	rank,
		size_type	order
	)			const `[inline, virtual]`

Get right limit value of derivative at given singular point.

Parameters:

	rank	rank of the singular points.
	order	order of derivation.

Return values:

derivative

Limit of the derivative at singular point for decreasing parameter values.

Implements roboptim::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::FreeTimeTrajectory< T >::derivBeforeSingularPoint	(	size_type	rank,
		size_type	order
	)			const `[inline, virtual]`

Get left limit value of derivative at given singular point.

Parameters:

	rank	rank of the singular points.
	order	order of derivation.

Returns:: Limit of the derivative at singular point for increasing parameter values.

Implements roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

const fixedTimeTrajectory_t& roboptim::FreeTimeTrajectory< T >::getFixedTimeTrajectory ( ) const throw () [inline]

template<typename T>

size_type roboptim::FreeTimeTrajectory< T >::getTimeScalingIndex ( ) const throw () [inline]

template<typename T >

void roboptim::FreeTimeTrajectory< T >::impl_compute	(	result_t &	res,
		double	t
	)			const throw () `[inline, protected]`

template<typename T >

void roboptim::FreeTimeTrajectory< T >::impl_derivative	(	gradient_t &	g,
		StableTimePoint	stp,
		size_type	order
	)			const throw () `[inline, protected, virtual]`

Implements roboptim::Trajectory< T::derivabilityOrder >.

template<typename T >

void roboptim::FreeTimeTrajectory< T >::impl_derivative	(	gradient_t &	g,
		double	x,
		size_type	order
	)			const throw () `[inline, protected]`

template<typename T>

fixedTimeTrajectory_t* roboptim::FreeTimeTrajectory< T >::makeFixedTimeTrajectory ( ) const throw () [inline]

References roboptim::Trajectory< T::derivabilityOrder >::timeRange().

template<typename T >

void roboptim::FreeTimeTrajectory< T >::normalizeAngles ( size_type index ) throw () [inline, virtual]

Normalize angles in parameters array.

Make sure angles are continuous.

Parameters:

index

Angles index in parameter array.

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T >

std::ostream & roboptim::FreeTimeTrajectory< T >::print ( std::ostream & o ) const throw () [inline, virtual]

Display the function on the specified output stream.

Parameters:

o

output stream used for display

Returns:: output stream

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

template<typename T>

self_t* roboptim::FreeTimeTrajectory< T >::resize ( interval_t timeRange ) const throw () [inline, virtual]

Clone and resize a trajectory.

Implements roboptim::Trajectory< T::derivabilityOrder >.

References roboptim::FreeTimeTrajectory< T >::scaleTime(), roboptim::Trajectory< DerivabilityOrder >::timeRange(), roboptim::Trajectory< T::derivabilityOrder >::timeRange(), and roboptim::tMax.

template<typename T >

double roboptim::FreeTimeTrajectory< T >::scaleTime ( double t ) const throw () [inline]

Scale input time argument.

Scale input argument with the same factor that the input trajectory:

$t' = t_{min} + \lambda * (t - t_{min})$

where $[t_{min}, t_{max}]$ is the input trajectory time range and

$\lambda$

the scale factor.

Parameters:

t

input time

Returns:: new scaled time

Referenced by roboptim::FreeTimeTrajectory< T >::resize().

template<typename T >

void roboptim::FreeTimeTrajectory< T >::setParameters ( const vector_t & p ) throw () [inline, virtual]

Reimplemented from roboptim::Trajectory< T::derivabilityOrder >.

References roboptim::removeScaleFromParameters().

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::FreeTimeTrajectory< T >::singularPointAtRank ( size_type rank ) const [inline, virtual]

Get singular point at given rank.

Implements roboptim::Trajectory< T::derivabilityOrder >.

References roboptim::Trajectory< T::derivabilityOrder >::timeRange(), and roboptim::FreeTimeTrajectory< T >::timeScale().

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::FreeTimeTrajectory< T >::timeScale ( ) const throw () [inline]

Get time scale factor.

Returns:: time scale factor.

References roboptim::Trajectory< T::derivabilityOrder >::parameters_.

Referenced by roboptim::FreeTimeTrajectory< T >::singularPointAtRank().

template<typename T >

double roboptim::FreeTimeTrajectory< T >::unscaleTime ( double t ) const throw () [inline]

References roboptim::tMax.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::FreeTimeTrajectory< T >::variationConfigWrtParam ( StableTimePoint tp ) const throw () [inline, virtual]

Implements roboptim::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::FreeTimeTrajectory< T >::variationConfigWrtParam ( double t ) const throw () [inline, virtual]

Get the variation of a configuration with respect to parameter vector.

Parameters:

t

value

in the definition interval.

Returns:: Jacobian:
$\frac{\partial\Gamma_{\textbf{p}}(t)}{\partial\textbf{p}}$

Implements roboptim::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::FreeTimeTrajectory< T >::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)			const throw () `[inline, virtual]`

Implements roboptim::Trajectory< T::derivabilityOrder >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::FreeTimeTrajectory< T >::variationDerivWrtParam	(	double	t,
		size_type	order
	)			const throw () `[inline, virtual]`

Get the variation of a derivative with respect to parameter vector.

Parameters:

	t	value in the definition interval.
	order	order of the derivative.

Returns:: jacobian
$\frac{\partial}{\partial\textbf{p}} \left(\frac{d^r\Gamma_{\textbf{p}}}{dt^r}(t)\right)$

Implements roboptim::Trajectory< T::derivabilityOrder >.

roboptim::FreeTimeTrajectory< T > Class Template Reference [Mathematical functions]

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<typename T> class roboptim::FreeTimeTrajectory< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

roboptim::FreeTimeTrajectory< T > Class Template Reference
[Mathematical functions]

template<typename T>
class roboptim::FreeTimeTrajectory< T >