From e5e7858f38984fe3aac008c7e099f076f10453ff Mon Sep 17 00:00:00 2001
From: JasonChmn <jason.chemin@hotmail.fr>
Date: Tue, 30 Apr 2019 12:51:42 +0200
Subject: [PATCH] Doc include/curves done
---
include/curves/bezier_curve.h | 4 ++--
include/curves/bezier_polynom_conversion.h | 6 +++---
include/curves/cubic_hermite_spline.h | 7 ++++---
include/curves/cubic_spline.h | 2 +-
include/curves/curve_abc.h | 2 +-
include/curves/exact_cubic.h | 19 ++++++++++++++-----
include/curves/polynom.h | 20 ++++++++++----------
include/curves/quintic_spline.h | 4 ++--
include/curves/spline_deriv_constraint.h | 4 ++--
9 files changed, 39 insertions(+), 29 deletions(-)
diff --git a/include/curves/bezier_curve.h b/include/curves/bezier_curve.h
index 8682c75..2ddc4b0 100644
--- a/include/curves/bezier_curve.h
+++ b/include/curves/bezier_curve.h
@@ -292,7 +292,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// The new list contains centroid of parameters \f${t,1-t}\f$ of consecutive points in the list.
/// \param pts : list of points.
/// \param u : NORMALIZED time when to evaluate the curve.
- /// \return Reduced list of point (size of pts - 1).
+ /// \return reduced list of point (size of pts - 1).
///
t_point_t deCasteljauReduction(const t_point_t& pts, const Numeric u) const{
if(u < 0 || u > 1)
@@ -310,7 +310,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \brief Split the bezier curve in 2 at time t.
/// \param t : list of points.
/// \param u : unNormalized time.
- /// \return A pair containing the first element of both bezier curve obtained.
+ /// \return pair containing the first element of both bezier curve obtained.
///
std::pair<bezier_curve_t,bezier_curve_t> split(const Numeric t){
if (t == T_)
diff --git a/include/curves/bezier_polynom_conversion.h b/include/curves/bezier_polynom_conversion.h
index d70523c..ee18b72 100644
--- a/include/curves/bezier_polynom_conversion.h
+++ b/include/curves/bezier_polynom_conversion.h
@@ -28,8 +28,8 @@ namespace curves
///
/// \brief Converts a Bezier curve to a polynom.
-/// \param bezier: the Bezier curve to convert.
-/// \return The equivalent polynom.
+/// \param bezier : the Bezier curve to convert.
+/// \return the equivalent polynom.
template<typename Bezier, typename Polynom>
Polynom from_bezier(const Bezier& curve)
{
@@ -52,7 +52,7 @@ Polynom from_bezier(const Bezier& curve)
///\brief Converts a polynom to a Bezier curve.
///\param polynom : the polynom to convert.
-///\return The equivalent Bezier curve.
+///\return the equivalent Bezier curve.
/*template<typename Bezier, typename Polynom>
Bezier from_polynom(const Polynom& polynom)
{
diff --git a/include/curves/cubic_hermite_spline.h b/include/curves/cubic_hermite_spline.h
index a68ed4e..fcb7aad 100644
--- a/include/curves/cubic_hermite_spline.h
+++ b/include/curves/cubic_hermite_spline.h
@@ -140,7 +140,8 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \brief Set duration by default of each spline (called in constructor).
/// Set a linear time from 0 to 1 for each control point with a \f$step=1.0/N\f$
/// where \f$N\f$ is the number of control points.<br>
- /// Exemple for 5 control points : vector time_control_points_ will contain \f$(0., 0.25, 0.5, 0.75, 1.0)\f$.
+ /// Exemple for 5 control points : vector time_control_points_ will contain \f$(0., 0.25, 0.5, 0.75, 1.0)\f$
+ /// corresponding to time for \f$P_0\f$, \f$P_1\f$, \f$P_2\f$, \f$P_3\f$ and \f$P_4\f$ respectively.
///
void setTimeSplinesDefault()
{
@@ -160,12 +161,12 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Dim, Safe, Point>
}
/// \brief Get number of control points contained in the trajectory.
- /// \return Number of control points.
+ /// \return number of control points.
///
Index size() const { return size_; }
/// \brief Get number of intervals (subsplines) contained in the trajectory.
- /// \return Number of intervals (subsplines).
+ /// \return number of intervals (subsplines).
///
Index numIntervals() const { return size()-1; }
diff --git a/include/curves/cubic_spline.h b/include/curves/cubic_spline.h
index 96eba75..ff0e8f8 100644
--- a/include/curves/cubic_spline.h
+++ b/include/curves/cubic_spline.h
@@ -23,7 +23,7 @@
namespace curves
{
/// \brief Creates coefficient vector of a cubic spline defined on the interval
-/// \f$[t_{min}, t_{max}]\f$. It follows the equation :
+/// \f$[t_{min}, t_{max}]\f$. It follows the equation : <br>
/// \f$ x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 \f$ where \f$ t \in [t_{min}, t_{max}] \f$
/// with a, b, c and d the control points.
///
diff --git a/include/curves/curve_abc.h b/include/curves/curve_abc.h
index a36af6c..d6afacb 100644
--- a/include/curves/curve_abc.h
+++ b/include/curves/curve_abc.h
@@ -20,7 +20,7 @@ namespace curves
{
/// \struct curve_abc.
/// \brief Represents a curve of dimension Dim.
-/// If parameter Safe is false, no verification is made on the evaluation of the curve.
+/// If value of parameter Safe is false, no verification is made on the evaluation of the curve.
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
, typename Point= Eigen::Matrix<Numeric, Dim, 1> >
struct curve_abc : std::unary_function<Time, Point>
diff --git a/include/curves/exact_cubic.h b/include/curves/exact_cubic.h
index 18fdefa..7ec2fae 100644
--- a/include/curves/exact_cubic.h
+++ b/include/curves/exact_cubic.h
@@ -75,13 +75,19 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
virtual ~exact_cubic(){}
private:
+ /// \brief Compute polynom of exact cubic spline from waypoints.
+ /// Compute the coefficients of polynom as in paper : "Task-Space Trajectories via Cubic Spline Optimization".<br>
+ /// \f$x_i(t)=a_i+b_i(t-t_i)+c_i(t-t_i)^2\f$<br>
+ /// with \f$a=x\f$, \f$H_1b=H_2x\f$, \f$c=H_3x+H_4b\f$, \f$d=H_5x+H_6b\f$.<br>
+ /// The matrices \f$H\f$ are defined as in the paper in Appendix A.
+ ///
template<typename In>
t_spline_t computeWayPoints(In wayPointsBegin, In wayPointsEnd) const
{
std::size_t const size(std::distance(wayPointsBegin, wayPointsEnd));
if(Safe && size < 1)
{
- throw; // TODO
+ throw std::length_error("size of waypoints must be superior to 0") ; // TODO
}
t_spline_t subSplines; subSplines.reserve(size);
@@ -103,6 +109,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
In it(wayPointsBegin), next(wayPointsBegin);
++next;
+ // Fill the matrices H as specified in the paper.
for(std::size_t i(0); next != wayPointsEnd; ++next, ++it, ++i)
{
num_t const dTi((*next).first - (*it).first);
@@ -134,11 +141,13 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
}
// adding last x
x.row(size-1)= (*it).second.transpose();
+ // Compute coefficients of polynom.
a= x;
PseudoInverse(h1);
b = h1 * h2 * x; //h1 * b = h2 * x => b = (h1)^-1 * h2 * x
c = h3 * x + h4 * b;
d = h5 * x + h6 * b;
+ // create splines along waypoints.
it= wayPointsBegin, next=wayPointsBegin; ++ next;
for(int i=0; next != wayPointsEnd; ++i, ++it, ++next)
{
@@ -158,7 +167,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
public:
/// \brief Evaluation of the cubic spline at time t.
/// \param t : time when to evaluate the spline
- /// \return \f$x(t)\f$, point corresponding on spline at time t.
+ /// \return \f$x(t)\f$ point corresponding on spline at time t.
///
virtual point_t operator()(const time_t t) const
{
@@ -175,7 +184,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \brief Evaluate the derivative of order N of spline at time t.
/// \param t : time when to evaluate the spline.
/// \param order : order of derivative.
- /// \return \f$\frac{d^Nx(t)}{dt^N}\f$, point corresponding on derivative spline of order N at time t.
+ /// \return \f$\frac{d^Nx(t)}{dt^N}\f$ point corresponding on derivative spline of order N at time t.
///
virtual point_t derivate(const time_t t, const std::size_t order) const
{
@@ -193,10 +202,10 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
/*Helpers*/
public:
/// \brief Get the minimum time for which the curve is defined
- /// \return \f$t_{min}\f$, lower bound of time range.
+ /// \return \f$t_{min}\f$ lower bound of time range.
num_t virtual min() const{return subSplines_.front().min();}
/// \brief Get the maximum time for which the curve is defined.
- /// \return \f$t_{max}\f$, upper bound of time range.
+ /// \return \f$t_{max}\f$ upper bound of time range.
num_t virtual max() const{return subSplines_.back().max();}
/*Helpers*/
diff --git a/include/curves/polynom.h b/include/curves/polynom.h
index 54cf5a4..9159f26 100644
--- a/include/curves/polynom.h
+++ b/include/curves/polynom.h
@@ -27,8 +27,8 @@ namespace curves
{
/// \class polynom.
/// \brief Represents a polynom of an arbitrary order defined on the interval
-/// \f$[t_{min}, t_{max}]\f$. It follows the equation :
-/// \f$ x(t) = a + b(t - t_{min}) + ... + d(t - t_{min})^N \f$,
+/// \f$[t_{min}, t_{max}]\f$. It follows the equation :<br>
+/// \f$ x(t) = a + b(t - t_{min}) + ... + d(t - t_{min})^N \f$<br>
/// where N is the order and \f$ t \in [t_{min}, t_{max}] \f$.
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
@@ -49,8 +49,8 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \param coefficients : a reference to an Eigen matrix where each column is a coefficient,
/// from the zero order coefficient, up to the highest order. Spline order is given
/// by the number of the columns -1.
- /// \param min: LOWER bound on interval definition of the curve.
- /// \param max: UPPER bound on interval definition of the curve.
+ /// \param min : LOWER bound on interval definition of the curve.
+ /// \param max : UPPER bound on interval definition of the curve.
polynom(const coeff_t& coefficients, const time_t min, const time_t max)
: curve_abc_t(),
coefficients_(coefficients), dim_(Dim), order_(coefficients_.cols()-1), t_min_(min), t_max_(max)
@@ -62,8 +62,8 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \param coefficients : a container containing all coefficients of the spline, starting
/// with the zero order coefficient, up to the highest order. Spline order is given
/// by the size of the coefficients.
- /// \param min: LOWER bound on interval definition of the spline.
- /// \param max: UPPER bound on interval definition of the spline.
+ /// \param min : LOWER bound on interval definition of the spline.
+ /// \param max : UPPER bound on interval definition of the spline.
polynom(const T_Point& coefficients, const time_t min, const time_t max)
: curve_abc_t(),
coefficients_(init_coeffs(coefficients.begin(), coefficients.end())),
@@ -133,7 +133,7 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \brief Evaluation of the cubic spline at time t using horner's scheme.
/// \param t : time when to evaluate the spline.
- /// \return \f$x(t)\f$, point corresponding on spline at time t.
+ /// \return \f$x(t)\f$ point corresponding on spline at time t.
virtual point_t operator()(const time_t t) const
{
if((t < t_min_ || t > t_max_) && Safe){ throw std::out_of_range("TODO");}
@@ -148,7 +148,7 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \brief Evaluation of the derivative of order N of spline at time t.
/// \param t : the time when to evaluate the spline.
/// \param order : order of derivative.
- /// \return \f$\frac{d^Nx(t)}{dt^N}\f$, point corresponding on derivative spline at time t.
+ /// \return \f$\frac{d^Nx(t)}{dt^N}\f$ point corresponding on derivative spline at time t.
virtual point_t derivate(const time_t t, const std::size_t order) const
{
if((t < t_min_ || t > t_max_) && Safe){ throw std::out_of_range("TODO");}
@@ -174,10 +174,10 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
/*Helpers*/
public:
/// \brief Get the minimum time for which the curve is defined
- /// \return \f$t_{min}\f$, lower bound of time range.
+ /// \return \f$t_{min}\f$ lower bound of time range.
num_t virtual min() const {return t_min_;}
/// \brief Get the maximum time for which the curve is defined.
- /// \return \f$t_{max}\f$, upper bound of time range.
+ /// \return \f$t_{max}\f$ upper bound of time range.
num_t virtual max() const {return t_max_;}
/*Helpers*/
diff --git a/include/curves/quintic_spline.h b/include/curves/quintic_spline.h
index 3ff0cf5..1c826e6 100644
--- a/include/curves/quintic_spline.h
+++ b/include/curves/quintic_spline.h
@@ -23,8 +23,8 @@
namespace curves
{
/// \brief Creates coefficient vector of a quintic spline defined on the interval
-/// \f$[t_{min}, t_{max}]\f$. It follows the equation :
-/// \f$ x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 + e(t - t_{min})^4 + f(t - t_{min})^5 \f$
+/// \f$[t_{min}, t_{max}]\f$. It follows the equation :<br>
+/// \f$ x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 + e(t - t_{min})^4 + f(t - t_{min})^5 \f$ <br>
/// where \f$ t \in [t_{min}, t_{max}] \f$.
///
template<typename Point, typename T_Point>
diff --git a/include/curves/spline_deriv_constraint.h b/include/curves/spline_deriv_constraint.h
index 9f5c332..1c4aec7 100644
--- a/include/curves/spline_deriv_constraint.h
+++ b/include/curves/spline_deriv_constraint.h
@@ -32,8 +32,8 @@ namespace curves
{
/// \class spline_deriv_constraint.
/// \brief Represents a set of cubic splines defining a continuous function
-/// crossing each of the waypoint given in its initialization. Additional constraints
-/// are used to increase the order of the last spline, to start and finish
+/// crossing each of the waypoint given in its initialization. <br>
+/// Additional constraints +are used to increase the order of the last spline, to start and finish
/// trajectory with user defined velocity and acceleration.
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
--
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