trajopt::SplineHelper Class Reference

#include <trajopt/spline/spline_helper.hpp>

Static Public Member Functions
static std::array< Spline< 3 >::ControlVector, 2 >	cubic_control_vectors_from_waypoints (const Pose2d &start, const std::vector< Translation2d > &interior_waypoints, const Pose2d &end)
static std::vector< CubicHermiteSpline >	cubic_splines_from_control_vectors (const Spline< 3 >::ControlVector &start, std::vector< Translation2d > waypoints, const Spline< 3 >::ControlVector &end)

Detailed Description

Helper class that is used to generate cubic and quintic splines from user-provided waypoints.

Member Function Documentation

cubic_control_vectors_from_waypoints()

std::array< Spline< 3 >::ControlVector, 2 > trajopt::SplineHelper::cubic_control_vectors_from_waypoints ( const Pose2d & start, const std::vector< Translation2d > & interior_waypoints, const Pose2d & end )

inlinestatic

Returns 2 cubic control vectors from a set of exterior waypoints and interior translations.

Parameters

start	The starting pose.
interior_waypoints	The interior waypoints.
end	The ending pose.

Returns

2 cubic control vectors.

cubic_splines_from_control_vectors()

std::vector< CubicHermiteSpline > trajopt::SplineHelper::cubic_splines_from_control_vectors ( const Spline< 3 >::ControlVector & start, std::vector< Translation2d > waypoints, const Spline< 3 >::ControlVector & end )

inlinestatic

Returns a set of cubic splines corresponding to the provided control vectors. The user is free to set the direction of the start and end point. The directions for the middle waypoints are determined automatically to ensure continuous curvature throughout the path.

The derivation for the algorithm used can be found here: https://www.uio.no/studier/emner/matnat/ifi/nedlagte-emner/INF-MAT4350/h08/undervisningsmateriale/chap7alecture.pdf

Parameters

start	The starting control vector.
waypoints	The middle waypoints. This can be left blank if you only wish to create a path with two waypoints.
end	The ending control vector.

Returns

A vector of cubic hermite splines that interpolate through the provided waypoints.

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

• include/trajopt/spline/spline_helper.hpp