A convenience class that stores a Bezier curve and its time scaling. Useful for evaluating the scaled curve, and for plotting it. More...

Public Member Functions
bool	OptimizeTimeScaling (const Vector &vmin, const Vector &vmax, const Vector &amin, const Vector &amax)

void	GetPiecewiseLinear (std::vector< Real > &times, 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=1e-3)
	Plots time-scaling and constraints at resolution res. Saves in CSV format.

Public Attributes
GeneralizedCubicBezierSpline	path

Spline::TimeSegmentation	pathSegments

TimeScaling	timeScaling

Detailed Description

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.

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

Public Member Functions