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 Types inherited from roboptim::Trajectory< T::derivabilityOrder >
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
	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 ()
Public Member Functions inherited from roboptim::Trajectory< T::derivabilityOrder >
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 ()
bool	isValidTime (value_type t) const throw ()
virtual Trajectory < DerivabilityOrder > *	clone () const =0 throw ()
const vector_t &	parameters () const 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 ()
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 ()
size_type	singularPoints () const throw ()
	Get number of singular points.

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 ()
Protected Member Functions inherited from roboptim::Trajectory< T::derivabilityOrder >
virtual void	normalizeAngles (size_type index, size_type offset) throw ()
	Internal version of normalizeAngles allowing an optional offset.
void	impl_compute (result_t &, StableTimePoint) const throw ()
	Trajectory (interval_t, size_type, const vector_t &, std::string name=std::string()) throw ()

Additional Inherited Members
Protected Attributes inherited from roboptim::Trajectory< T::derivabilityOrder >
interval_t	timeRange_
vector_t	parameters_
size_type	singularPoints_

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.

template<typename T>

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

Import interval type.

template<typename T>

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

Import jacobian type.

template<typename T>

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

Parent type.

template<typename T>

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

Import result type.

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.

template<typename T>

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

Import value type.

template<typename T>

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

Import vector type.

Constructor & Destructor Documentation

template<typename T >

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

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 ()

template<typename T >

roboptim::FreeTimeTrajectory< T >::~FreeTimeTrajectory ( ) throw ()

virtual

Member Function Documentation

template<typename T >

FreeTimeTrajectory< T >::vector_t roboptim::FreeTimeTrajectory< T >::derivAfterSingularPoint	(	size_type	rank,
		size_type	order
	)		const

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

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 ()

protected

template<typename T >

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

protected

template<typename T >

void roboptim::FreeTimeTrajectory< T >::impl_derivative	(	gradient_t &	g,
		StableTimePoint	stp,
		size_type	order
	)		const throw ()

protectedvirtual

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

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 ()

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 ()

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 ()

inlinevirtual

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 ()

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 ()

virtual

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

Examples:: spline-time-optimization.cc.

References roboptim::removeScaleFromParameters().

template<typename T >

FreeTimeTrajectory< T >::value_type roboptim::FreeTimeTrajectory< T >::singularPointAtRank ( size_type rank ) const

virtual

Get singular point at given rank.

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

template<typename T >

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

Get time scale factor.

Returns: time scale factor.

template<typename T >

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

References roboptim::tMax.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::FreeTimeTrajectory< T >::variationConfigWrtParam ( double t ) const throw ()

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 >::variationConfigWrtParam ( StableTimePoint tp ) const throw ()

virtual

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

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::FreeTimeTrajectory< T >::variationDerivWrtParam	(	double	t,
		size_type	order
	)		const throw ()

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 >.

template<typename T >

FreeTimeTrajectory< T >::jacobian_t roboptim::FreeTimeTrajectory< T >::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)		const throw ()

virtual

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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