ct::optcon::LinearSpliner< T, SCALAR > Class Template Reference

The linear spline implementation. More...

#include <LinearSpliner.h>

Inheritance diagram for ct::optcon::LinearSpliner< T, SCALAR >:

Public Types
typedef std::vector< vector_t, Eigen::aligned_allocator< vector_t > >	vector_array_t
typedef Eigen::Matrix< SCALAR, T::DIM, T::DIM >	matrix_t
Public Types inherited from ct::optcon::SplinerBase< T, SCALAR >
typedef T	vector_t
typedef Eigen::Matrix< SCALAR, T::DIM, T::DIM >	matrix_t
typedef std::vector< vector_t, Eigen::aligned_allocator< vector_t > >	vector_array_t

Public Member Functions
	LinearSpliner ()=delete
	LinearSpliner (std::shared_ptr< tpl::TimeGrid< SCALAR >> grid)
	Custom constructor. More...
	~LinearSpliner () override=default
void	computeSpline (const vector_array_t &points) override
	Updates the vector on the shots. More...
vector_t	evalSpline (const SCALAR time, const size_t shotIdx) override
	Depending on the spline type, this method evaluates the control input between the shots. More...
vector_t	splineDerivative_t (const SCALAR time, const size_t shotIdx) const override
	Returns the spline derivatives with respect to time. More...
vector_t	splineDerivative_h_i (const SCALAR time, const size_t shotIdx) const override
	Returns the spline derivatives with respect to the time segment between the shots. More...
matrix_t	splineDerivative_q_i (const SCALAR time, const size_t shotIdx) const override
	Return the spline derivative with respect to the control input at shot i. More...
matrix_t	splineDerivative_q_iplus1 (const SCALAR time, const size_t shotIdx) const override
	Returns the spline derivative with respect to the control input at shot i+1. More...
Public Member Functions inherited from ct::optcon::SplinerBase< T, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SplinerBase ()=default
	Default constructor. More...
virtual	~SplinerBase ()=default
	Destructor. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef T	vector_t

Detailed Description

template<class T, typename SCALAR = double>
class ct::optcon::LinearSpliner< T, SCALAR >

The linear spline implementation.

Template Parameters

T	The vector type to be splined

Member Typedef Documentation

vector_array_t

template<class T , typename SCALAR = double>

typedef std::vector<vector_t, Eigen::aligned_allocator<vector_t> > ct::optcon::LinearSpliner< T, SCALAR >::vector_array_t

matrix_t

template<class T , typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, T::DIM, T::DIM> ct::optcon::LinearSpliner< T, SCALAR >::matrix_t

Constructor & Destructor Documentation

LinearSpliner() [1/2]

template<class T , typename SCALAR = double>

ct::optcon::LinearSpliner< T, SCALAR >::LinearSpliner ( )

delete

LinearSpliner() [2/2]

template<class T , typename SCALAR = double>

ct::optcon::LinearSpliner< T, SCALAR >::LinearSpliner ( std::shared_ptr< tpl::TimeGrid< SCALAR >>  grid )

inline

Custom constructor.

Parameters

[in]

grid

The dms timegrid

References grid(), and ct::optcon::LinearSpliner< T, SCALAR >::~LinearSpliner().

~LinearSpliner()

template<class T , typename SCALAR = double>

ct::optcon::LinearSpliner< T, SCALAR >::~LinearSpliner ( )

overridedefault

Referenced by ct::optcon::LinearSpliner< T, SCALAR >::LinearSpliner().

Member Function Documentation

computeSpline()

template<class T , typename SCALAR = double>

void ct::optcon::LinearSpliner< T, SCALAR >::computeSpline ( const vector_array_t &  points )

inlineoverridevirtual

Updates the vector on the shots.

Parameters

[in]

points

Updated vector array

Implements ct::optcon::SplinerBase< T, SCALAR >.

evalSpline()

template<class T , typename SCALAR = double>

vector_t ct::optcon::LinearSpliner< T, SCALAR >::evalSpline ( const SCALAR  time, const size_t  shotIdx  )

inlineoverridevirtual

Depending on the spline type, this method evaluates the control input between the shots.

Parameters

[in]	time	The evaluation time
[in]	shotIdx	The shot number

Returns

The splined vector

Implements ct::optcon::SplinerBase< T, SCALAR >.

splineDerivative_t()

template<class T , typename SCALAR = double>

vector_t ct::optcon::LinearSpliner< T, SCALAR >::splineDerivative_t ( const SCALAR  time, const size_t  shotIdx  ) const

inlineoverridevirtual

Returns the spline derivatives with respect to time.

Parameters

[in]	time	The evaluation time
[in]	shotIdx	The shot number

Returns

The time derivative

Implements ct::optcon::SplinerBase< T, SCALAR >.

splineDerivative_h_i()

template<class T , typename SCALAR = double>

vector_t ct::optcon::LinearSpliner< T, SCALAR >::splineDerivative_h_i ( const SCALAR  time, const size_t  shotIdx  ) const

inlineoverridevirtual

Returns the spline derivatives with respect to the time segment between the shots.

Parameters

[in]	time	The evaluation time
[in]	shotIdx	The shot number

Returns

The resulting derivative

Implements ct::optcon::SplinerBase< T, SCALAR >.

splineDerivative_q_i()

template<class T , typename SCALAR = double>

matrix_t ct::optcon::LinearSpliner< T, SCALAR >::splineDerivative_q_i ( const SCALAR  time, const size_t  shotIdx  ) const

inlineoverridevirtual

Return the spline derivative with respect to the control input at shot i.

Parameters

[in]	time	The evaluation time
[in]	shotIdx	The shot number

Returns

The resulting derivative

Implements ct::optcon::SplinerBase< T, SCALAR >.

splineDerivative_q_iplus1()

template<class T , typename SCALAR = double>

matrix_t ct::optcon::LinearSpliner< T, SCALAR >::splineDerivative_q_iplus1 ( const SCALAR  time, const size_t  shotIdx  ) const

inlineoverridevirtual

Returns the spline derivative with respect to the control input at shot i+1.

Parameters

[in]	time	The evaluation time
[in]	shotIdx	The shot number

Returns

The resulting derivative

Implements ct::optcon::SplinerBase< T, SCALAR >.

Member Data Documentation

vector_t

template<class T , typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef T ct::optcon::LinearSpliner< T, SCALAR >::vector_t

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/dms/dms_core/spline/Linear/LinearSpliner.h