Klamp't
0.9.0

A convenience class that stores a Bezier curve and its time scaling. Useful for evaluating the scaled curve, and for plotting it. More...
#include <TimeScaling.h>
Public Member Functions  
bool  OptimizeTimeScaling (const Vector &vmin, const Vector &vmax, const Vector &amin, const Vector &amax) 
void  GetPiecewiseLinear (std::vector< Real > ×, std::vector< Config > &milestones) const 
void  GetDiscretizedPath (Real dt, std::vector< Config > &milestones) const 
Real  EndTime () const 
void  Eval (Real t, Vector &x) const 
void  Deriv (Real t, Vector &dx) const 
void  Accel (Real t, Vector &ddx) const 
void  Plot (const char *fn, const Vector &vmin, const Vector &vmax, const Vector &amin, const Vector &amax, Real res=1e3) 
Plots timescaling and constraints at resolution res. Saves in CSV format.  
Public Attributes  
GeneralizedCubicBezierSpline  path 
Spline::TimeSegmentation  pathSegments 
TimeScaling  timeScaling 
A convenience class that stores a Bezier curve and its time scaling. Useful for evaluating the scaled curve, and for plotting it.
Users need to set up path to be the geometric path to optimize over, and pathSegments to be the grid of path parameters in the range [0,1].
After Optimize, the timeScaling variable will be filled out.
Note: most Klamp't users will want to use the much more convenient functions in RobotTimeScaling.h.