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Constrained B-spline
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| // Copyright (C) 2013 by Alexander Werner, DLR. | ||
| // Copyright (C) 2014 by Benjamin Chrétien, CNRS-LIRMM. | ||
| // | ||
| // This file is part of the roboptim. | ||
| // | ||
| // roboptim is free software: you can redistribute it and/or modify | ||
| // it under the terms of the GNU Lesser General Public License as published by | ||
| // the Free Software Foundation, either version 3 of the License, or | ||
| // (at your option) any later version. | ||
| // | ||
| // roboptim is distributed in the hope that it will be useful, | ||
| // but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| // GNU Lesser General Public License for more details. | ||
| // | ||
| // You should have received a copy of the GNU Lesser General Public License | ||
| // along with roboptim. If not, see <http://www.gnu.org/licenses/>. | ||
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| #ifndef ROBOPTIM_TRAJECTORY_CONSTRAINED_B_SPLINE_HH | ||
| # define ROBOPTIM_TRAJECTORY_CONSTRAINED_B_SPLINE_HH | ||
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| # include <roboptim/trajectory/sys.hh> | ||
| # include <roboptim/trajectory/deprecated.hh> | ||
| # include <roboptim/trajectory/b-spline.hh> | ||
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| namespace roboptim | ||
| { | ||
| /// \addtogroup roboptim_function | ||
| /// @{ | ||
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| /// \brief Constrained B-spline. | ||
| /// | ||
| /// \tparam N B-spline order. | ||
| template <int N> | ||
| class ConstrainedBSpline : public BSpline<N> | ||
| { | ||
| public: | ||
| typedef BSpline<N> parent_t; | ||
| typedef typename parent_t::interval_t interval_t; | ||
| typedef typename parent_t::size_type size_type; | ||
| typedef typename parent_t::value_type value_type; | ||
| typedef typename parent_t::vector_t vector_t; | ||
| typedef typename parent_t::matrix_t matrix_t; | ||
| typedef typename parent_t::jacobian_t jacobian_t; | ||
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| /// \brief see B-Spline constructors for documentation | ||
| ConstrainedBSpline (interval_t timeRange, size_type dimension, | ||
| const vector_t& parameters, | ||
| const std::string name = "Constrained B-Spline") | ||
| throw (); | ||
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| /// \brief see B-Spline constructors for documentation | ||
| ConstrainedBSpline (interval_t tr, size_type dimension, | ||
| const vector_t& parameters, | ||
| const vector_t& knots, | ||
| std::string name = "Constrained B-Spline") throw (); | ||
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| /// \brief Destructor of constrained B-spline. | ||
| virtual ~ConstrainedBSpline () throw (); | ||
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| /// Creates a constraint on the basic spline. | ||
| /// This reduces the number of parameter by one. | ||
| /// The constraint equation is: | ||
| /// \f$value = \frac{\partial^derivative}{\partial t^derivative} | ||
| /// f_{dimension}(t) \f$ | ||
| /// \param t time in the spline to constrain. | ||
| /// \param dimension Which dimension of the spline to constrain. | ||
| /// \param value Desired spline value at t. | ||
| /// \param derivative Which derivative of the spline to constrain. | ||
| void addFixedConstraint (double t, | ||
| size_type dimension, | ||
| value_type value, | ||
| size_type derivative = 0) throw (); | ||
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| /// \brief Create a constraint against another part of the spline. | ||
| /// \f$\frac{\partial^d}{\partial t^d} f_{d_1}(t_1) | ||
| /// = factor * \frac{\partial^d}{\partial t^d} f_{d_2}(t_2) \f$ | ||
| /// \param t_1 first time. | ||
| /// \param dimension_1 first dimension. | ||
| /// \param t_2 second time. | ||
| /// \param dimension_2 second dimension. | ||
| /// \param derivative derivative order (\f$d\f$). | ||
| /// \param factor scalar factor. | ||
| void addCoupledConstraint | ||
| (value_type t_1, size_type dimension_1, | ||
| value_type t_2, size_type dimension_2, | ||
| size_type derivative = 0, value_type factor = 1.) throw (); | ||
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| /// Overloaded parameters method from Trajectory<N>. | ||
| /// Returns only the tunable parameters. | ||
| const vector_t& parameters () const throw (); | ||
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| /// Overloaded setParameters method from Trajectory<N>. | ||
| /// Given the free parameters, it calculates the spline parameters. | ||
| void setParameters (const vector_t&) throw (); | ||
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| /// \brief Clone and resize a trajectory. | ||
| /// \param timeRange new time range. | ||
| /// \return cloned trajectory with new time range. | ||
| virtual Trajectory<N>* resize (interval_t timeRange) const throw (); | ||
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| jacobian_t variationDerivWrtParam (double t, size_type order) | ||
| const throw (); | ||
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| protected: | ||
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| /// \brief Update the projector matrix. Called after adding a constraint. | ||
| void updateProjector(); | ||
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| /// \brief Matrix storing constraints. | ||
| /// One row per constraint, one column per parameter. | ||
| matrix_t constraints_; | ||
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| /// \brief Constraint values. | ||
| vector_t constraint_values_; | ||
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| /// \brief Tunable parameters, i.e. the free parameters. | ||
| vector_t tunables_; | ||
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| /// \brief Projector matrix. | ||
| matrix_t projector_; | ||
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| /// \brief Result of: Constraints * X = Constraint values | ||
| vector_t projector_offset_; | ||
| }; | ||
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| /// @} | ||
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| } // end of namespace roboptim. | ||
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| # include <roboptim/trajectory/constrained-b-spline.hxx> | ||
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| #endif //! ROBOPTIM_TRAJECTORY_CONSTRAINED_B_SPLINE_HH |
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