Curves
A library for curves generation.
curves Namespace Reference

Namespaces

 spline_traits
 

Classes

class  CubicHermiteE3Curve
 
class  CubicHermiteSE3Curve
 
class  Curve
 
class  DiscreteSE3Curve
 Implements a discrete SE3 curve class. More...
 
class  KeyGenerator
 
class  LocalSupport2CoefficientManager
 
class  PolynomialSpline
 
class  PolynomialSplineContainer
 
class  PolynomialSplineScalarCurve
 
class  PolynomialSplineVectorSpaceCurve
 
class  SamplingPolicy
 
struct  ScalarCurveConfig
 
struct  SE2Config
 
class  SE2Curve
 
class  SE3CompositionCurve
 
struct  SE3Config
 
class  SE3Curve
 
class  SE3CurveFactory
 
class  SemiDiscreteSE3Curve
 Implements a discrete SE3 curve class. More...
 
class  SlerpSE2Curve
 
class  SlerpSE3Curve
 
struct  SplineOptions
 
struct  VectorSpaceConfig
 
class  VectorSpaceCurve
 

Typedefs

typedef SE3Curve::ValueType ValueType
 
typedef SE3Curve::DerivativeType DerivativeType
 
typedef kindr::HermiteTransformation< double > Coefficient
 
typedef LocalSupport2CoefficientManager< Coefficient >::TimeToKeyCoefficientMap TimeToKeyCoefficientMap
 
typedef LocalSupport2CoefficientManager< Coefficient >::CoefficientIter CoefficientIter
 
typedef kindr::HomogeneousTransformationPosition3RotationQuaternionD SE3
 
typedef SE3::Rotation SO3
 
typedef kindr::AngleAxisPD AngleAxis
 
typedef kindr::RotationQuaternionPD RotationQuaternion
 
typedef Eigen::Matrix< double, 6, 1 > Vector6
 
typedef kindr::TwistGlobalD Twist
 
typedef double Time
 
typedef size_t Key
 
using PolynomialSplineQLinear = PolynomialSpline< 1 >
 
using PolynomialSplineQuadratic = PolynomialSpline< 2 >
 
using PolynomialSplineCubic = PolynomialSpline< 3 >
 
using PolynomialSplineQuartic = PolynomialSpline< 4 >
 
using PolynomialSplineQuintic = PolynomialSpline< 5 >
 
using PolynomialSplineContainerLinear = PolynomialSplineContainer< 1 >
 
using PolynomialSplineContainerQuadratic = PolynomialSplineContainer< 2 >
 
using PolynomialSplineContainerCubic = PolynomialSplineContainer< 3 >
 
using PolynomialSplineContainerQuartic = PolynomialSplineContainer< 4 >
 
using PolynomialSplineContainerQuintic = PolynomialSplineContainer< 5 >
 
using PolynomialSplineQuinticScalarCurve = PolynomialSplineScalarCurve< PolynomialSplineContainerQuintic >
 
typedef PolynomialSplineVectorSpaceCurve< PolynomialSplineQuintic, 3 > PolynomialSplineQuinticVector3Curve
 
typedef Eigen::Matrix< double, 3, 1 > Vector3d
 
typedef Eigen::Matrix< double, 6, 1 > Vector6d
 
typedef gtsam::Pose2 SE2
 
typedef gtsam::Rot2 SO2
 

Functions

SE3 transformationPower (SE3 T, double alpha)
 
SE3 composeTransformations (SE3 A, SE3 B)
 
SE3 inverseTransformation (SE3 T)
 
SE3 invertAndComposeImplementation (SE3 A, SE3 B)
 
template<typename T >
static std::string toString (const T &t)
 
static std::vector< std::vector< std::string > > loadCSV (std::string fileName)
 Helper function to read CSV files into 'matrix' of strings. More...
 
static void writeCSV (std::string fileName, const std::vector< std::vector< std::string > > &strMatrix)
 Helper function to write 'matrix' of strings into CSV file. More...
 
static void loadTimeVectorCSV (std::string fileName, std::vector< curves::Time > *outTimes, std::vector< Eigen::VectorXd > *outValues)
 Helper function to read CSV files formatted in: time, vectorEntry0, vectorEntry1, ... More...
 
static void writeTimeVectorCSV (std::string fileName, const std::vector< curves::Time > &times, const std::vector< Eigen::VectorXd > &values)
 Helper function to write CSV file formatted in: time, vectorEntry0, vectorEntry1, ... More...
 
static void loadTimeTimeVectorCSV (std::string fileName, std::vector< curves::Time > *outTimes0, std::vector< curves::Time > *outTimes1, std::vector< Eigen::VectorXd > *outValues)
 Helper function to read CSV files formatted in: time0, time1, vectorEntry0, vectorEntry1, ... More...
 
SE2 transformationPower (SE2 T, double alpha)
 
SE2 composeTransformations (SE2 A, SE2 B)
 
SE2 inverseTransformation (SE2 T)
 

Typedef Documentation

typedef kindr::AngleAxisPD curves::AngleAxis

Definition at line 276 of file CubicHermiteSE3Curve.hpp.

Definition at line 70 of file CubicHermiteSE3Curve.hpp.

typedef size_t curves::Key

Definition at line 14 of file Curve.hpp.

Definition at line 17 of file polynomial_splines.hpp.

Definition at line 15 of file polynomial_splines.hpp.

Definition at line 16 of file polynomial_splines.hpp.

Definition at line 18 of file polynomial_splines.hpp.

Definition at line 19 of file polynomial_splines.hpp.

typedef kindr::RotationQuaternionPD curves::RotationQuaternion

Definition at line 277 of file CubicHermiteSE3Curve.hpp.

typedef gtsam::Pose2 curves::SE2

Definition at line 121 of file SlerpSE2Curve.hpp.

typedef kindr::HomogeneousTransformationPosition3RotationQuaternionD curves::SE3

Definition at line 274 of file CubicHermiteSE3Curve.hpp.

typedef gtsam::Rot2 curves::SO2

Definition at line 122 of file SlerpSE2Curve.hpp.

typedef SE3::Rotation curves::SO3

Definition at line 275 of file CubicHermiteSE3Curve.hpp.

typedef double curves::Time

Definition at line 13 of file Curve.hpp.

typedef kindr::TwistGlobalD curves::Twist

Definition at line 279 of file CubicHermiteSE3Curve.hpp.

typedef Eigen::Matrix<double, 3, 1> curves::Vector3d

Definition at line 15 of file SE2Config.hpp.

typedef Eigen::Matrix<double, 6, 1> curves::Vector6

Definition at line 278 of file CubicHermiteSE3Curve.hpp.

typedef Eigen::Matrix<double, 6, 1> curves::Vector6d

Definition at line 16 of file SE3Config.hpp.

Function Documentation

SE2 curves::composeTransformations ( SE2  A,
SE2  B 
)
SE3 curves::composeTransformations ( SE3  A,
SE3  B 
)
SE2 curves::inverseTransformation ( SE2  T)
SE3 curves::inverseTransformation ( SE3  T)
SE3 curves::invertAndComposeImplementation ( SE3  A,
SE3  B 
)
static std::vector<std::vector<std::string> > curves::loadCSV ( std::string  fileName)
static

Helper function to read CSV files into 'matrix' of strings.

Definition at line 22 of file helpers.hpp.

static void curves::loadTimeTimeVectorCSV ( std::string  fileName,
std::vector< curves::Time > *  outTimes0,
std::vector< curves::Time > *  outTimes1,
std::vector< Eigen::VectorXd > *  outValues 
)
static

Helper function to read CSV files formatted in: time0, time1, vectorEntry0, vectorEntry1, ...

Definition at line 110 of file helpers.hpp.

static void curves::loadTimeVectorCSV ( std::string  fileName,
std::vector< curves::Time > *  outTimes,
std::vector< Eigen::VectorXd > *  outValues 
)
static

Helper function to read CSV files formatted in: time, vectorEntry0, vectorEntry1, ...

Definition at line 63 of file helpers.hpp.

template<typename T >
static std::string curves::toString ( const T &  t)
static

Definition at line 18 of file helpers.hpp.

SE2 curves::transformationPower ( SE2  T,
double  alpha 
)
SE3 curves::transformationPower ( SE3  T,
double  alpha 
)
static void curves::writeCSV ( std::string  fileName,
const std::vector< std::vector< std::string > > &  strMatrix 
)
static

Helper function to write 'matrix' of strings into CSV file.

Definition at line 46 of file helpers.hpp.

static void curves::writeTimeVectorCSV ( std::string  fileName,
const std::vector< curves::Time > &  times,
const std::vector< Eigen::VectorXd > &  values 
)
static

Helper function to write CSV file formatted in: time, vectorEntry0, vectorEntry1, ...

Definition at line 86 of file helpers.hpp.