splineGeneration.cpp File Reference

#include "drake/solvers/qpSpline/splineGeneration.h"
#include <Eigen/Dense>
#include <iostream>
#include <sstream>
#include <numeric>
#include <stdexcept>
#include "drake/common/drake_assert.h"

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Functions
template<typename DerivedM >
void	setConstraintMatrixPart (double time, int derivative_order, MatrixBase< DerivedM > &constraint_matrix, double scaling=1.0)
PiecewisePolynomial< double >	generateSpline (const SplineInformation &spline_information)
PiecewisePolynomial< double >	nWaypointCubicSpline (const vector< double > &segment_times, double x0, double xd0, double xf, double xdf, const Ref< const VectorXd > &xi)

Function Documentation

PiecewisePolynomial<double> generateSpline

(

const SplineInformation &

spline_information

)

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PiecewisePolynomial<double> nWaypointCubicSpline	(	const vector< double > &	segment_times,
		double	x0,
		double	xd0,
		double	xf,
		double	xdf,
		const Ref< const VectorXd > &	xi
	)

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void setConstraintMatrixPart	(	double	time,
		int	derivative_order,
		MatrixBase< DerivedM > &	constraint_matrix,
		double	scaling = 1.0
	)

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