Class for spline interpolation. More...

#include <spline.hpp>

Public Member Functions
	Spline ()
	Default constructor. More...

	Spline (const std::vector< Eigen::Vector3f > &positions, const std::vector< Eigen::Vector3f > &orientations, float speed)
	Constructor for a spline given by a list of poses. More...

void	set_poses (const std::vector< Eigen::Vector3f > &positions, const std::vector< Eigen::Vector3f > &orientations)
	Sets the poses to interpolate. More...

void	set_speed (float speed)
	Set the desired speed on the path. More...

void	evaluate (float t, Eigen::Vector3f &position, Eigen::Vector3f &orientation, bool &last_reached)
	Evaluates the spline at a specific time instant (assuming constant speed) More...

Private Member Functions
void	compute_parameters ()
	Computes the spline parameters. More...

void	prepare ()
	Prepares the class for interpolation. More...

Eigen::Vector3f	evaluate_position (float s)
	Evaluates the spline at a specific curvilinear abscissa. More...

Eigen::Vector3f	compute_orientation (float s)
	Computes the orientation at a specific curvilinear abscissa. More...

void	deriv_abscissa (const std::vector< double > &s, std::vector< double > &dsdt, const double t)
	Computes the derivative of the curvilinear abscissa wrt time. More...

float	compute_abscissa (float t)
	Computes the curvilinear abscissa corresponding to a time instant. More...

Private Attributes
int	n_
	Number of poses to interpolate. More...

float	speed_
	Constant speed to adopt on the path. More...

std::vector< Eigen::Vector3f >	p_
	Positions to interpolate. More...

std::vector< Eigen::Vector3f >	o_
	Corresponding orientations. More...

std::vector< std::vector< Eigen::Vector3f > >	a_
	Spline parameters for each segment (ie between each pose) More...

bool	prepared_
	Whether the class is ready for interpolation. More...

float	last_s_
	Curvilinear abscissa of the last evaluated point. More...

float	last_t_
	Time instant of the last evaluated point. More...

Detailed Description

Class for spline interpolation.

Interpolates a list of given positions and orientations by cubic splines at constant speed. The evaluation function is optimised for successive calls with increasing time.

Definition at line 24 of file spline.hpp.

Constructor & Destructor Documentation

mfcpp::Spline::Spline ( )

Default constructor.

Definition at line 22 of file spline.cpp.

mfcpp::Spline::Spline	(	const std::vector< Eigen::Vector3f > &	positions,
		const std::vector< Eigen::Vector3f > &	orientations,
		float	speed
	)

Constructor for a spline given by a list of poses.

Will call Spline::prepare().

Parameters

positions	Positions to interpolate
orientations	Corresponding orientations
speed	Desired constant speed

Definition at line 29 of file spline.cpp.

Member Function Documentation

float mfcpp::Spline::compute_abscissa ( float t )

private

Computes the curvilinear abscissa corresponding to a time instant.

The function is optimised for successive calls with an increasing s.

Parameters

t	Time at which to interpolate (should be positive)

Returns: Corresponding curvilinear abscissa

Definition at line 150 of file spline.cpp.

Eigen::Vector3f mfcpp::Spline::compute_orientation ( float s )

private

Computes the orientation at a specific curvilinear abscissa.

Parameters

s	Curvilinear abscissa (in [0, n])

Returns: Interpolated orientation

Definition at line 127 of file spline.cpp.

void mfcpp::Spline::compute_parameters ( )

private

Computes the spline parameters.

Definition at line 101 of file spline.cpp.

void mfcpp::Spline::deriv_abscissa	(	const std::vector< double > &	s,
		std::vector< double > &	dsdt,
		const double	t
	)

private

Computes the derivative of the curvilinear abscissa wrt time.

This is the ODE used to compute the abscissa corresponding to at time.

Parameters

[in]	Abscissa	at which to compute the derivative (vector of size 1)
[out]	Derivative	of the abscissa (vector of size 1)
[in]	Time	parameter (not used here since no time dependency)

Definition at line 141 of file spline.cpp.

void mfcpp::Spline::evaluate	(	float	t,
		Eigen::Vector3f &	position,
		Eigen::Vector3f &	orientation,
		bool &	last_reached
	)

Evaluates the spline at a specific time instant (assuming constant speed)

If t is larger than the time t_max when the last specified pose is reached, the output pose will be this last pose.

Parameters

[in]	t	Time instant (should be positive)
[out]	position	Interpolated position
[out]	orientation	Interpolated orientation
[out]	last_reached	Whether the last pose has been reached

Definition at line 63 of file spline.cpp.

Eigen::Vector3f mfcpp::Spline::evaluate_position ( float s )

private

Evaluates the spline at a specific curvilinear abscissa.

Parameters

s	Curvilinear abscissa (in [0, n])

Returns: Interpolated position

Definition at line 114 of file spline.cpp.

void mfcpp::Spline::prepare ( )

private

Prepares the class for interpolation.

Computes the spline parameters and the time instants at the given points.

Definition at line 90 of file spline.cpp.

void mfcpp::Spline::set_poses	(	const std::vector< Eigen::Vector3f > &	positions,
		const std::vector< Eigen::Vector3f > &	orientations
	)

Sets the poses to interpolate.

Parameters

positions	Positions to interpolate
orientations	Corresponding orientations

Definition at line 40 of file spline.cpp.

void mfcpp::Spline::set_speed ( float speed )

Set the desired speed on the path.

Parameters

speed Desired speed

Definition at line 56 of file spline.cpp.

Member Data Documentation

std::vector< std::vector<Eigen::Vector3f> > mfcpp::Spline::a_

private

Spline parameters for each segment (ie between each pose)

Definition at line 86 of file spline.hpp.

float mfcpp::Spline::last_s_

private

Curvilinear abscissa of the last evaluated point.

Definition at line 88 of file spline.hpp.

float mfcpp::Spline::last_t_

private

Time instant of the last evaluated point.

Definition at line 89 of file spline.hpp.

int mfcpp::Spline::n_

private

Number of poses to interpolate.

Definition at line 82 of file spline.hpp.

std::vector<Eigen::Vector3f> mfcpp::Spline::o_

private

Corresponding orientations.

Definition at line 85 of file spline.hpp.

std::vector<Eigen::Vector3f> mfcpp::Spline::p_

private

Positions to interpolate.

Definition at line 84 of file spline.hpp.

bool mfcpp::Spline::prepared_

private

Whether the class is ready for interpolation.

Definition at line 87 of file spline.hpp.

float mfcpp::Spline::speed_

private

Constant speed to adopt on the path.

Definition at line 83 of file spline.hpp.

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

/home/corentin/thesis_ws/src/marine-farm-cpp/mf_common/include/mf_common/spline.hpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_common/src/mf_common/spline.cpp

MFCPP 1.0	Corentin Chauvin-Hameau – 2019-2020
Coverage Path Planning for an underwater robot surveying a marine farm

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation