Mathematical functions

Classes
class	roboptim::CubicBSpline
	Cubic B-Spline trajectory. More...
class	roboptim::FreeTimeTrajectory< T >
	Decorate a trajectory to make time scalable. More...
class	roboptim::SplineLength
	Approximate the length of a Spline. More...

Functions
	roboptim::SplineLength::SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none_t()) throw ()
virtual	roboptim::SplineLength::~SplineLength () throw ()
void	roboptim::SplineLength::impl_compute (result_t &, const argument_t &) const throw ()
void	roboptim::SplineLength::impl_gradient (gradient_t &, const argument_t &, size_type) const throw ()

Detailed Description

Function Documentation

void roboptim::SplineLength::impl_compute ( result_t &  res, const argument_t &  p  ) const throw ( )

protected

References roboptim::CubicBSpline::setParameters().

void roboptim::SplineLength::impl_gradient ( gradient_t &  grad, const argument_t &  p, size_type  i  ) const throw ( )

protected

References roboptim::CubicBSpline::setParameters().

roboptim::SplineLength::SplineLength	(	const CubicBSpline &	spline,
		const size_type	nDiscretizationPoints = 100,
		boost::optional< interval_t >	interval = boost::none_t ()
	)
throw	(
	)

Construct the function from a Spline and a definition interval.

The interval allows to only compute the length of the Spline on a specific interval. The step associated to the interval controls the approximation precision.

Parameters

spline	spline used for length computation
interval	interval on which the length is computed.
nDiscretizationPoints	number of discretization points

roboptim::SplineLength::~SplineLength ( ) throw ( )

virtual