reparameterize.hpp File Reference

Reparamterize a Spline to satisfy derivative constraints. More...

#include "spline.hpp"
#include "detail/reparameterize_impl.hpp"

Include dependency graph for reparameterize.hpp:

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Concepts
concept	SplineLike
	SplineLike concept.

Functions
Spline< 2, double >	reparameterize_spline (const SplineLike auto &spline, const auto &vel_min, const auto &vel_max, const auto &acc_min, const auto &acc_max, const double start_vel=1, const double end_vel=std::numeric_limits< double >::infinity(), const std::size_t N=100)
	Reparameterize a spline to satisfy velocity and acceleration constraints.

Detailed Description

Reparamterize a Spline to satisfy derivative constraints.

Definition in file reparameterize.hpp.

Function Documentation

reparameterize_spline()

Spline< 2, double > reparameterize_spline	(	const SplineLike auto &	spline,
		const auto &	vel_min,
		const auto &	vel_max,
		const auto &	acc_min,
		const auto &	acc_max,
		const double	start_vel = 1,
		const double	end_vel = std::numeric_limits< double >::infinity(),
		const std::size_t	N = 100
	)

Reparameterize a spline to satisfy velocity and acceleration constraints.

If \( x(\cdot) \) is a Spline, then this function generates a function \( s(t) \) s.t. the reparamterized spline \( x(s(t)) \) has body velocity bounded between vel_min and vel_max, and body acceleration bounded between acc_min and acc_max.

Parameters

spline	spline \( x(t) \) to reparameterize.
vel_min,vel_max	velocity bounds, must be s.t. vel_min < 0 < vel_max (component-wise).
acc_min,acc_max	acceleration bounds, must be s.t. acc_min < 0 < acc_max (component-wise).
start_vel	target value for \( s'(0) \) (must be non-negative).
end_vel	target value for \( s'(t_{max}) \) (must be non-negative).
N	partition size. A larger value implies smaller bound violations.

Note

Allocates heap memory.

For best results the input spline should be twice continously differentiable.

It may not be feasible to satisfy the target boundary velocities. In those cases the resulting velocities will be lower than the desired values.