Merge pull request #5 from olivier-stasse/master
Change headers to UTF8 and fix problem with >>
.travis.yml
0 → 100644
| /** | ||
| * \file sinusoid.hpp | ||
| * \brief Generates InfiniteSinusoidal trajectory | ||
| * \author Rohan Budhiraja | ||
| * \date 2017 | ||
| * | ||
| */ | ||
| #ifndef _parameteric_curves_sinusoid_hpp | ||
| #define _parameteric_curves_sinusoid_hpp | ||
| #include <parametric-curves/abstract-curve.hpp> | ||
| namespace parametriccurves | ||
| { | ||
| /// \class InfiniteSinusoid | ||
| /// \brief Creates InfiniteSinusoid curve | ||
| /// The sinusoid is actually a cosine so that it starts with zero velocity. | ||
| /// Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time) | ||
| template<typename Numeric=double, std::size_t Dim=1, | ||
| typename Point= Eigen::Matrix<Numeric, Dim, 1>> | ||
| struct InfiniteSinusoid : | ||
| public AbstractCurve<Numeric, Point> | ||
| { | ||
| typedef Point point_t; | ||
| typedef Numeric time_t; | ||
| typedef Numeric num_t; | ||
| typedef AbstractCurve<Numeric, Point> curve_abc_t; | ||
| public: | ||
| ///\brief Constructor | ||
| InfiniteSinusoid(const time_t& traj_time_, | ||
| const point_t& x_init_= Eigen::Matrix<Numeric, Dim, 1>::Zero(), | ||
| const point_t& x_final_= Eigen::Matrix<Numeric, Dim, 1>::Zero()) | ||
| : curve_abc_t(-1,-1), | ||
| traj_time(traj_time_), | ||
| x_init(x_init_), | ||
| x_final(x_final_) {} | ||
| ///\brief Destructor | ||
| ~InfiniteSinusoid(){} | ||
| public: | ||
| virtual const point_t operator()(const time_t& t) const | ||
| { | ||
| return x_init + 0.5*(x_final-x_init)*(1.0-cos(two_pi_f(t))); | ||
| } | ||
| virtual const point_t derivate(const time_t& t, const std::size_t& order) const | ||
| { | ||
| if(order==1) | ||
| return (x_final-x_init)*0.5*two_pi_f(1)*sin(two_pi_f(t)); | ||
| else if(order==2) | ||
| return (x_final-x_init)*0.5*two_pi_f(1)*two_pi_f(1)*cos(two_pi_f(t)); | ||
| else { | ||
| std::cerr<<"Higher order derivatives not supported"<<std::endl; | ||
| return point_t::Zero(Dim); | ||
| } | ||
| } | ||
| public: | ||
| virtual bool setInitialPoint(const point_t& x_init_) | ||
| { | ||
| if(x_init_.size()!=x_init.size()) | ||
| return false; | ||
| x_init = x_init_; | ||
| } | ||
| virtual bool setInitialPoint(const double& x_init_) | ||
| { | ||
| if(Dim!=1) | ||
| return false; | ||
| x_init[0] = x_init_; | ||
| return true; | ||
| } | ||
| virtual bool setFinalPoint(const Eigen::VectorXd& x_final_) | ||
| { | ||
| if(x_final.size()!=x_final_.size()) | ||
| return false; | ||
| x_final = x_final_; | ||
| return true; | ||
| } | ||
| virtual bool setFinalPoint(const double& x_final_) | ||
| { | ||
| if(Dim!=1) | ||
| return false; | ||
| x_final[0] = x_final_; | ||
| return true; | ||
| } | ||
| virtual bool setTrajectoryTime(double traj_time_) | ||
| { | ||
| if(traj_time_<=0.0) | ||
| return false; | ||
| traj_time = traj_time_; | ||
| return true; | ||
| } | ||
| protected: | ||
| /*Attributes*/ | ||
| point_t x_init; | ||
| point_t x_final; | ||
| time_t traj_time; | ||
| private: | ||
| </ |