roboptim::Trajectory< DerivabilityOrder > Class Template Reference
[Mathematical abstract functions]

Abstract trajectory. More...

#include <roboptim/trajectory/trajectory.hh>

Inheritance diagram for roboptim::Trajectory< DerivabilityOrder >:
NTimesDerivableFunction

List of all members.

Public Types

typedef
NTimesDerivableFunction
< DerivabilityOrder > 		parent_t
 Parent type.
typedef parent_t::value_type value_type
 Import value type.
typedef parent_t::size_type size_type
 Import size type.
typedef parent_t::vector_t vector_t
 Import vector type.
typedef parent_t::result_t result_t
 Import result type.
typedef parent_t::gradient_t gradient_t
 Import gradient type.
typedef parent_t::jacobian_t jacobian_t
 Import jacobian type.
typedef parent_t::interval_t interval_t
 Import interval type.

Public Member Functions

virtual ~Trajectory () throw ()
result_t operator() (StableTimePoint argument) const throw ()
void operator() (result_t &result, StableTimePoint argument) const throw ()
gradient_t derivative (StableTimePoint argument, size_type order=1) const throw ()
void derivative (gradient_t &derivative, StableTimePoint argument, size_type order=1) const throw ()
virtual jacobian_t variationConfigWrtParam (StableTimePoint tp) const =0 throw ()
virtual jacobian_t variationDerivWrtParam (StableTimePoint tp, size_type order) const =0 throw ()
bool isValidTime (value_type t) const throw ()
virtual void normalizeAngles (size_type index) throw ()
 Normalize angles in parameters array.
virtual Trajectory
< DerivabilityOrder > * 		clone () const =0 throw ()
virtual Trajectory
< DerivabilityOrder > * 		resize (interval_t timeRange) const =0 throw ()
 Clone and resize a trajectory.
virtual std::ostream & print (std::ostream &) const throw ()
Accessing parameters, and state.



const vector_t & parameters () const throw ()
virtual void setParameters (const vector_t &) throw ()
interval_t timeRange () const throw ()
value_type length () const throw ()
virtual vector_t state (double t, size_type order) const throw ()
 Get state along trajectory.
virtual vector_t state (StableTimePoint t, size_type order) const throw ()
Accessing parameters and gradients



virtual jacobian_t variationConfigWrtParam (double t) const =0 throw ()
 Get the variation of a configuration with respect to parameter vector.
virtual jacobian_t variationDerivWrtParam (double t, size_type order) const =0 throw ()
 Get the variation of a derivative with respect to parameter vector.
jacobian_t variationStateWrtParam (double t, size_type order) const throw ()
 Get the variation of the state with respect to parameter vector.
jacobian_t variationStateWrtParam (StableTimePoint stp, size_type order) const throw ()
Singular points



size_type singularPoints () const throw ()
 Get number of singular points.
virtual value_type singularPointAtRank (size_type rank) const =0
 Get singular point at given rank.
virtual vector_t derivBeforeSingularPoint (size_type rank, size_type order) const =0
 Get left limit value of derivative at given singular point.
virtual vector_t derivAfterSingularPoint (size_type rank, size_type order) const =0
 Get right limit value of derivative at given singular point.

Protected Member Functions

void impl_compute (result_t &, StableTimePoint) const throw ()
virtual void impl_derivative (gradient_t &g, StableTimePoint, size_type order) const =0 throw ()
 Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) throw ()
virtual void normalizeAngles (size_type index, size_type offset) throw ()
 Internal version of normalizeAngles allowing an optional offset.

Protected Attributes

interval_t timeRange_
vector_t parameters_
size_type singularPoints_

Detailed Description

template<unsigned DerivabilityOrder>
class roboptim::Trajectory< DerivabilityOrder >

Abstract trajectory.

A trajectory is a piecewise smooth mapping $\Gamma$ from

Member Typedef Documentation

template<unsigned DerivabilityOrder>
typedef parent_t::gradient_t roboptim::Trajectory< DerivabilityOrder >::gradient_t

Import gradient type.

Reimplemented in roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
typedef parent_t::interval_t roboptim::Trajectory< DerivabilityOrder >::interval_t

Import interval type.

Reimplemented in roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
typedef parent_t::jacobian_t roboptim::Trajectory< DerivabilityOrder >::jacobian_t

Import jacobian type.

Reimplemented in roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
typedef NTimesDerivableFunction<DerivabilityOrder> roboptim::Trajectory< DerivabilityOrder >::parent_t

Parent type.

Reimplemented in roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
typedef parent_t::result_t roboptim::Trajectory< DerivabilityOrder >::result_t

Import result type.

Reimplemented in roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
typedef parent_t::size_type roboptim::Trajectory< DerivabilityOrder >::size_type

Import size type.

Reimplemented in roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
typedef parent_t::value_type roboptim::Trajectory< DerivabilityOrder >::value_type

Import value type.

Reimplemented in roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
typedef parent_t::vector_t roboptim::Trajectory< DerivabilityOrder >::vector_t

Import vector type.

Reimplemented in roboptim::FreeTimeTrajectory< T >.

Constructor & Destructor Documentation

template<unsigned dorder>
roboptim::Trajectory< dorder >::~Trajectory (  )  throw () [inline, virtual]
template<unsigned dorder>
roboptim::Trajectory< dorder >::Trajectory ( interval_t  tr,
size_type  outputSize,
const vector_t &  p,
std::string  name = std::string () 
) throw () [inline, protected]

Member Function Documentation

template<unsigned DerivabilityOrder>
virtual Trajectory<DerivabilityOrder>* roboptim::Trajectory< DerivabilityOrder >::clone (  )  const throw () [pure virtual]
template<unsigned DerivabilityOrder>
virtual vector_t roboptim::Trajectory< DerivabilityOrder >::derivAfterSingularPoint ( size_type  rank,
size_type  order 
) const [pure 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.

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
void roboptim::Trajectory< DerivabilityOrder >::derivative ( gradient_t &  derivative,
StableTimePoint  argument,
size_type  order = 1 
) const throw () [inline]
template<unsigned DerivabilityOrder>
gradient_t roboptim::Trajectory< DerivabilityOrder >::derivative ( StableTimePoint  argument,
size_type  order = 1 
) const throw () [inline]

Referenced by roboptim::Trajectory< T::derivabilityOrder >::derivative().

template<unsigned DerivabilityOrder>
virtual vector_t roboptim::Trajectory< DerivabilityOrder >::derivBeforeSingularPoint ( size_type  rank,
size_type  order 
) const [pure 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.

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned dorder>
void roboptim::Trajectory< dorder >::impl_compute ( result_t &  res,
StableTimePoint  stp 
) const throw () [inline, protected]

References roboptim::StableTimePoint::getTime().

Referenced by roboptim::Trajectory< T::derivabilityOrder >::operator()().

template<unsigned DerivabilityOrder>
virtual void roboptim::Trajectory< DerivabilityOrder >::impl_derivative ( gradient_t &  g,
StableTimePoint  ,
size_type  order 
) const throw () [protected, pure virtual]

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

Referenced by roboptim::Trajectory< T::derivabilityOrder >::derivative().

template<unsigned dorder>
bool roboptim::Trajectory< dorder >::isValidTime ( value_type  t  )  const throw () [inline]
template<unsigned dorder>
Trajectory< dorder >::value_type roboptim::Trajectory< dorder >::length (  )  const throw () [inline]

References roboptim::Trajectory< DerivabilityOrder >::timeRange().

template<unsigned dorder>
void roboptim::Trajectory< dorder >::normalizeAngles ( size_type  index,
size_type  offset 
) throw () [inline, protected, virtual]

Internal version of normalizeAngles allowing an optional offset.

Used to factorize code between trajectories and free time trajectories.

Parameters:
index Angles index in parameter array.
offset Index of the first control point in the parameter vector.
template<unsigned dorder>
void roboptim::Trajectory< dorder >::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 in roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
void roboptim::Trajectory< DerivabilityOrder >::operator() ( result_t &  result,
StableTimePoint  argument 
) const throw () [inline]
template<unsigned DerivabilityOrder>
result_t roboptim::Trajectory< DerivabilityOrder >::operator() ( StableTimePoint  argument  )  const throw () [inline]
template<unsigned dorder>
const Trajectory< dorder >::vector_t & roboptim::Trajectory< dorder >::parameters (  )  const throw () [inline]

References roboptim::Trajectory< DerivabilityOrder >::parameters_.

template<unsigned dorder>
std::ostream & roboptim::Trajectory< dorder >::print ( std::ostream &  o  )  const throw () [inline, virtual]

Reimplemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
virtual Trajectory<DerivabilityOrder>* roboptim::Trajectory< DerivabilityOrder >::resize ( interval_t  timeRange  )  const throw () [pure virtual]

Clone and resize a trajectory.

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned dorder>
void roboptim::Trajectory< dorder >::setParameters ( const vector_t &  p  )  throw () [inline, virtual]

Reimplemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
virtual value_type roboptim::Trajectory< DerivabilityOrder >::singularPointAtRank ( size_type  rank  )  const [pure virtual]

Get singular point at given rank.

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned dorder>
Trajectory< dorder >::size_type roboptim::Trajectory< dorder >::singularPoints (  )  const throw () [inline]

Get number of singular points.

References roboptim::Trajectory< DerivabilityOrder >::singularPoints_.

template<unsigned dorder>
Trajectory< dorder >::vector_t roboptim::Trajectory< dorder >::state ( StableTimePoint  t,
size_type  order 
) const throw () [inline, virtual]
template<unsigned dorder>
Trajectory< dorder >::vector_t roboptim::Trajectory< dorder >::state ( double  t,
size_type  order 
) const throw () [inline, virtual]

Get state along trajectory.

Parameters:
t value $t$ in the definition interval.
order the higher order $r$ of the required derivative
Returns:
the state defined as the vector containing the config and first derivatives:

\[ \textbf{X}(t) = \left(\Gamma_{\textbf{p}}(t), \frac{d\Gamma_{\textbf{p}}}{dt}(t),\cdots, \frac{d^{r}\Gamma_{\textbf{p}}}{dt^{r}}(t)\right) \]

The configuration and derivatives are concatenated in one vector.
template<unsigned dorder>
Trajectory< dorder >::interval_t roboptim::Trajectory< dorder >::timeRange (  )  const throw () [inline]

References roboptim::Trajectory< DerivabilityOrder >::timeRange_.

Referenced by roboptim::Trajectory< DerivabilityOrder >::length(), roboptim::visualization::gnuplot::plot_limitSpeed(), roboptim::visualization::gnuplot::plot_xy(), and roboptim::FreeTimeTrajectory< T >::resize().

template<unsigned DerivabilityOrder>
virtual jacobian_t roboptim::Trajectory< DerivabilityOrder >::variationConfigWrtParam ( StableTimePoint  tp  )  const throw () [pure virtual]

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
virtual jacobian_t roboptim::Trajectory< DerivabilityOrder >::variationConfigWrtParam ( double  t  )  const throw () [pure virtual]

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

Parameters:
t value $t$ in the definition interval.
Returns:
Jacobian:

\[\frac{\partial\Gamma_{\textbf{p}}(t)}{\partial\textbf{p}}\]

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
virtual jacobian_t roboptim::Trajectory< DerivabilityOrder >::variationDerivWrtParam ( StableTimePoint  tp,
size_type  order 
) const throw () [pure virtual]

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned DerivabilityOrder>
virtual jacobian_t roboptim::Trajectory< DerivabilityOrder >::variationDerivWrtParam ( double  t,
size_type  order 
) const throw () [pure virtual]

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

Parameters:
t value $t$ in the definition interval.
order order $r$ of the derivative.
Returns:
jacobian

\[ \frac{\partial}{\partial\textbf{p}} \left(\frac{d^r\Gamma_{\textbf{p}}}{dt^r}(t)\right) \]

Implemented in roboptim::CubicBSpline, and roboptim::FreeTimeTrajectory< T >.

template<unsigned dorder>
Trajectory< dorder >::jacobian_t roboptim::Trajectory< dorder >::variationStateWrtParam ( StableTimePoint  stp,
size_type  order 
) const throw () [inline]
template<unsigned dorder>
Trajectory< dorder >::jacobian_t roboptim::Trajectory< dorder >::variationStateWrtParam ( double  t,
size_type  order 
) const throw () [inline]

Get the variation of the state with respect to parameter vector.

Parameters:
t value $t$ in the definition interval.
order order $r$ of the derivative.
Returns:
jacobian

\[ \left(\begin{array}{c}\frac{\partial}{\partial \lambda} \Gamma_{\textbf{p}}(t) \\ \vdots \\ \frac{\partial}{\partial \lambda}\frac{d\Gamma_{\textbf{p}}^r}{dt^r}(t) \end{array}\right) \]

Member Data Documentation

template<unsigned DerivabilityOrder>
vector_t roboptim::Trajectory< DerivabilityOrder >::parameters_ [protected]

Referenced by roboptim::Trajectory< DerivabilityOrder >::parameters().

template<unsigned DerivabilityOrder>
size_type roboptim::Trajectory< DerivabilityOrder >::singularPoints_ [protected]

Referenced by roboptim::Trajectory< DerivabilityOrder >::singularPoints().

template<unsigned DerivabilityOrder>
interval_t roboptim::Trajectory< DerivabilityOrder >::timeRange_ [protected]

Referenced by roboptim::Trajectory< DerivabilityOrder >::timeRange().