Abstract trajectory. More...

#include <roboptim/trajectory/trajectory.hh>

Inheritance diagram for roboptim::Trajectory< dorder >:

Public Types
typedef NTimesDerivableFunction < DerivabilityOrder >	parent_t
	Parent type. More...

typedef parent_t::value_type	value_type
	Import value type. More...

typedef parent_t::size_type	size_type
	Import size type. More...

typedef parent_t::vector_t	vector_t
	Import vector type. More...

typedef parent_t::result_t	result_t
	Import result type. More...

typedef parent_t::gradient_t	gradient_t
	Import gradient type. More...

typedef parent_t::jacobian_t	jacobian_t
	Import jacobian type. More...

typedef parent_t::interval_t	interval_t
	Import interval type. More...

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. More...

virtual Trajectory < DerivabilityOrder > *	clone () const =0 throw ()

virtual Trajectory < DerivabilityOrder > *	resize (interval_t timeRange) const =0 throw ()
	Clone and resize a trajectory. More...

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. More...

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. More...

virtual jacobian_t	variationDerivWrtParam (double t, size_type order) const =0 throw ()
	Get the variation of a derivative with respect to parameter vector. More...

jacobian_t	variationStateWrtParam (double t, size_type order) const throw ()
	Get the variation of the state with respect to parameter vector. More...

jacobian_t	variationStateWrtParam (StableTimePoint stp, size_type order) const throw ()

Singular points
size_type	singularPoints () const throw ()
	Get number of singular points. More...

virtual value_type	singularPointAtRank (size_type rank) const =0
	Get singular point at given rank. More...

virtual vector_t	derivBeforeSingularPoint (size_type rank, size_type order) const =0
	Get left limit value of derivative at given singular point. More...

virtual vector_t	derivAfterSingularPoint (size_type rank, size_type order) const =0
	Get right limit value of derivative at given singular point. More...

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. More...

Protected Attributes
interval_t	timeRange_

vector_t	parameters_

size_type	singularPoints_

Detailed Description

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

Abstract trajectory.

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

the Cartesian product of a definition interval and a vector space of parameters $\textbf{R}^m$
to a vector space $\textbf{R}^n$ :
$\begin{array}{llll} \Gamma: & [t_{min}, t_{max}] \times \textbf{R}^m & \rightarrow & \textbf{R}^n \\ & (t, \textbf{p}) & \rightarrow & \Gamma_{\textbf{p}}(t) \end{array}$

Template Parameters

DerivabilityOrder derivability order

Member Typedef Documentation

template<unsigned dorder>

typedef parent_t::gradient_t roboptim::Trajectory< dorder >::gradient_t

Import gradient type.

template<unsigned dorder>

typedef parent_t::interval_t roboptim::Trajectory< dorder >::interval_t

Import interval type.

template<unsigned dorder>

typedef parent_t::jacobian_t roboptim::Trajectory< dorder >::jacobian_t

Import jacobian type.

template<unsigned dorder>

typedef NTimesDerivableFunction<DerivabilityOrder> roboptim::Trajectory< dorder >::parent_t

Parent type.

template<unsigned dorder>

typedef parent_t::result_t roboptim::Trajectory< dorder >::result_t

Import result type.

template<unsigned dorder>

typedef parent_t::size_type roboptim::Trajectory< dorder >::size_type

Import size type.

template<unsigned dorder>

typedef parent_t::value_type roboptim::Trajectory< dorder >::value_type

Import value type.

template<unsigned dorder>

typedef parent_t::vector_t roboptim::Trajectory< dorder >::vector_t

Import vector type.

Constructor & Destructor Documentation

template<unsigned dorder>

roboptim::Trajectory< dorder >::~Trajectory	(	)
throw	(
	)

virtual

template<unsigned dorder>

roboptim::Trajectory< dorder >::Trajectory	(	interval_t	tr,
		size_type	outputSize,
		const vector_t &	p,
		std::string	name = `std::string ()`
	)
throw	(
	)

protected

Member Function Documentation

template<unsigned dorder>

virtual Trajectory<DerivabilityOrder>* roboptim::Trajectory< dorder >::clone	(	)	const
throw	(
	)

pure virtual

template<unsigned dorder>

virtual vector_t roboptim::Trajectory< dorder >::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::FreeTimeTrajectory< T >, and roboptim::CubicBSpline.

template<unsigned dorder>

gradient_t roboptim::Trajectory< dorder >::derivative	(	StableTimePoint	argument,
		size_type	order = `1`
	)		const
throw	(
	)

inline

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

template<unsigned dorder>

void roboptim::Trajectory< dorder >::derivative	(	gradient_t &	derivative,
		StableTimePoint	argument,
		size_type	order = `1`
	)		const
throw	(
	)

inline

template<unsigned dorder>

virtual vector_t roboptim::Trajectory< dorder >::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::FreeTimeTrajectory< T >, and roboptim::CubicBSpline.

template<unsigned dorder>

void roboptim::Trajectory< dorder >::impl_compute	(	result_t &	res,
		StableTimePoint	stp
	)		const
throw	(
	)

protected

References roboptim::StableTimePoint::getTime().

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

template<unsigned dorder>

virtual void roboptim::Trajectory< dorder >::impl_derivative	(	gradient_t &	g,
		StableTimePoint	,
		size_type	order
	)		const
throw	(
	)

protectedpure virtual

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

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

template<unsigned dorder>

bool roboptim::Trajectory< dorder >::isValidTime	(	value_type	t)	const
throw	(
	)

template<unsigned dorder>

Trajectory< dorder >::value_type roboptim::Trajectory< dorder >::length	(	)	const
throw	(
	)

template<unsigned dorder>

void roboptim::Trajectory< dorder >::normalizeAngles	(	size_type	index)
throw	(
	)

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 dorder>

void roboptim::Trajectory< dorder >::normalizeAngles	(	size_type	index,
		size_type	offset
	)
throw	(
	)

protectedvirtual

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>

result_t roboptim::Trajectory< dorder >::operator()	(	StableTimePoint	argument)	const
throw	(
	)

inline

template<unsigned dorder>

void roboptim::Trajectory< dorder >::operator()	(	result_t &	result,
		StableTimePoint	argument
	)		const
throw	(
	)

inline

template<unsigned dorder>

const Trajectory< dorder >::vector_t & roboptim::Trajectory< dorder >::parameters	(	)	const
throw	(
	)

template<unsigned dorder>

std::ostream & roboptim::Trajectory< dorder >::print	(	std::ostream &	o)	const
throw	(
	)

virtual

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

template<unsigned dorder>

virtual Trajectory<DerivabilityOrder>* roboptim::Trajectory< dorder >::resize	(	interval_t	timeRange)	const
throw	(
	)

pure virtual

Clone and resize a trajectory.

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

template<unsigned dorder>

void roboptim::Trajectory< dorder >::setParameters	(	const vector_t &	p)
throw	(
	)

virtual

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

template<unsigned dorder>

virtual value_type roboptim::Trajectory< dorder >::singularPointAtRank ( size_type rank) const

pure virtual

Get singular point at given rank.

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

template<unsigned dorder>

Trajectory< dorder >::size_type roboptim::Trajectory< dorder >::singularPoints	(	)	const
throw	(
	)

Get number of singular points.

template<unsigned dorder>

Trajectory< dorder >::vector_t roboptim::Trajectory< dorder >::state	(	double	t,
		size_type	order
	)		const
throw	(
	)

virtual

Get state along trajectory.

Parameters

t	value in the definition interval.
order	the higher order 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 >::vector_t roboptim::Trajectory< dorder >::state	(	StableTimePoint	t,
		size_type	order
	)		const
throw	(
	)

virtual

template<unsigned dorder>

Trajectory< dorder >::interval_t roboptim::Trajectory< dorder >::timeRange	(	)	const
throw	(
	)

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

template<unsigned dorder>

virtual jacobian_t roboptim::Trajectory< dorder >::variationConfigWrtParam	(	double	t)	const
throw	(
	)

pure virtual

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

Parameters

t	value in the definition interval.

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

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

template<unsigned dorder>

virtual jacobian_t roboptim::Trajectory< dorder >::variationConfigWrtParam	(	StableTimePoint	tp)	const
throw	(
	)

pure virtual

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

template<unsigned dorder>

virtual jacobian_t roboptim::Trajectory< dorder >::variationDerivWrtParam	(	double	t,
		size_type	order
	)		const
throw	(
	)

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

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

template<unsigned dorder>

virtual jacobian_t roboptim::Trajectory< dorder >::variationDerivWrtParam	(	StableTimePoint	tp,
		size_type	order
	)		const
throw	(
	)

pure virtual

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

template<unsigned dorder>

Trajectory< dorder >::jacobian_t roboptim::Trajectory< dorder >::variationStateWrtParam	(	double	t,
		size_type	order
	)		const
throw	(
	)

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

Parameters

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

Returns: jacobian
$\left(\begin{array}{c}\frac{\partial}{\partial \lambda} \Gamma_{\textbf{p}}(t) \\ \vdots \\ \frac{\partial}{\partial \lambda}\frac{d\Gamma_{\textbf{p}}^r}{dt^r}(t) \end{array}\right)$