gcop::SplineTparam< T, nx, nu, np, _ntp > Class Template Reference

#include <splinetparam.h>

Inheritance diagram for gcop::SplineTparam< T, nx, nu, np, _ntp >:

Collaboration diagram for gcop::SplineTparam< T, nx, nu, np, _ntp >:

List of all members.

Public Member Functions
	SplineTparam (System< T, nx, nu, np > &sys, const VectorXd tks, int degree=2)
bool	To (Vectorntpd &s, const vector< double > &ts, const vector< T > &xs, const vector< Vectorcd > &us, const Vectormd *p=0)
bool	From (vector< double > &ts, vector< T > &xs, vector< Vectorcd > &us, const Vectorntpd &s, Vectormd *p=0)
Public Attributes
VectorXd	tks
	control times
double	tf
	Final time for spline.
int	degree
	Degree of the spline p = (m - n - 1) where m is knot vector size(used by bspline to find the basis etc); n is the control vector size (tks size)

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Detailed Description

template<typename T, int nx, int nu, int np = Dynamic, int _ntp = Dynamic>
class gcop::SplineTparam< T, nx, nu, np, _ntp >

This version implements the non uniform spline interpolation of the data. It also implements least square fitting of the given control data using spline

Author: Marin Kobilarov (c) 2005--2013 Author2: Gowtham Garimella

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Constructor & Destructor Documentation

template<typename T , int nx, int nu, int np, int _ntp>

gcop::SplineTparam< T, nx, nu, np, _ntp >::SplineTparam	(	System< T, nx, nu, np > &	sys,
		const VectorXd	tks,
		int	degree = 2
	)

Constructor

Parameters:

sys	System used for manifold
tks	Knot times for spline
degree	Spline degree

References gcop::SplineTparam< T, nx, nu, np, _ntp >::tf, and gcop::SplineTparam< T, nx, nu, np, _ntp >::tks.

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Member Function Documentation

template<typename T , int nx, int nu, int np, int _ntp>

bool gcop::SplineTparam< T, nx, nu, np, _ntp >::From	(	vector< double > &	ts,
		vector< T > &	xs,
		vector< Vectorcd > &	us,
		const Vectorntpd &	s,
		Vectormd *	p = 0
	)		[virtual]

Convert from trajectory (ts,xs,us,p) to parameters s

Parameters:

ts	times
xs	states
us	controls
s	trajectory parametrization vector
p	system parameters (optional)

Returns:

true if conversion was successful

Reimplemented from gcop::Tparam< T, nx, nu, np, _ntp >.

template<typename T , int nx, int nu, int np, int _ntp>

bool gcop::SplineTparam< T, nx, nu, np, _ntp >::To	(	Vectorntpd &	s,
		const vector< double > &	ts,
		const vector< T > &	xs,
		const vector< Vectorcd > &	us,
		const Vectormd *	p = 0
	)		[virtual]

Convert from paramer s to trajectory (ts,xs,us,p)

Parameters:

s	trajectory parametrization vector
ts	times
xs	states
us	controls
p	system parameters (optional)

Returns:

true if conversion was successful

Reimplemented from gcop::Tparam< T, nx, nu, np, _ntp >.

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Member Data Documentation

template<typename T , int nx, int nu, int np = Dynamic, int _ntp = Dynamic>

int gcop::SplineTparam< T, nx, nu, np, _ntp >::degree

Degree of the spline p = (m - n - 1) where m is knot vector size(used by bspline to find the basis etc); n is the control vector size (tks size)

template<typename T , int nx, int nu, int np = Dynamic, int _ntp = Dynamic>

double gcop::SplineTparam< T, nx, nu, np, _ntp >::tf

Final time for spline.

Referenced by gcop::SplineTparam< T, nx, nu, np, _ntp >::SplineTparam().

template<typename T , int nx, int nu, int np = Dynamic, int _ntp = Dynamic>

VectorXd gcop::SplineTparam< T, nx, nu, np, _ntp >::tks

control times

Referenced by gcop::SplineTparam< T, nx, nu, np, _ntp >::SplineTparam().

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The documentation for this class was generated from the following file:

• lib/systems/parametrization/splinetparam.h