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

#include <uniformsplinetparam.h>

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

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

List of all members.

Public Member Functions
	UniformSplineTparam (System< T, nx, nu, np > &sys, const VectorXd &tks, int degree=2)
bool	To (VectorXd &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 VectorXd &s, Vectormd *p=0)
void	FindBasis (VectorXd &basis, double u)
Public Attributes
const VectorXd &	tks
int	degree

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Detailed Description

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

General trajectory parametrization functionality. A trajectory can be parametrizes using a set of discrete controls, a continuous control paramertization, a set of discrete states, a set of discrete flat outputs, etc...

This version implements the Uniform spline interpolation of the data. It also implements least square fitting of the given control data using spline This is indigenous support which supports only upto degree = 4. Also it assumes tks has atleast 3 points i.e minimum of 2 segments

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>

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

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Member Function Documentation

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

void gcop::UniformSplineTparam< T, nx, nu, np >::FindBasis	(	VectorXd &	basis,
		double	u
	)		[inline]

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

bool gcop::UniformSplineTparam< T, nx, nu, np >::From	(	vector< double > &	ts,
		vector< T > &	xs,
		vector< Vectorcd > &	us,
		const VectorXd &	s,
		Vectormd *	p = 0
	)

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

bool gcop::UniformSplineTparam< T, nx, nu, np >::To	(	VectorXd &	s,
		const vector< double > &	ts,
		const vector< T > &	xs,
		const vector< Vectorcd > &	us,
		const Vectormd *	p = 0
	)

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Member Data Documentation

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

int gcop::UniformSplineTparam< T, nx, nu, np >::degree

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

const VectorXd& gcop::UniformSplineTparam< T, nx, nu, np >::tks

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

• lib/systems/parametrization/uniformsplinetparam.h