spline_specs::MinDerivative< G, K, O, P > Struct Template Reference

SplineSpec for optimized spline. More...

#include <fit.hpp>

Public Attributes
std::array< Tangent< G >, std::size_t(P - 1)>	left_values
	Values of left-side boundary constraints.
std::array< Tangent< G >, std::size_t(P - 1)>	rght_values = left_values
	Values of right-side boundary constraints.

Static Public Attributes
static constexpr int	Degree = K
	Polynomial degree.
static constexpr int	OptDeg = O
	Optimization degree (absolute integral of derivative OptDeg is minimized)
static constexpr int	InnCnt = P
	Number of derivatives to enforce continuity for.
static constexpr std::array< int, std::size_t(P - 1)>	LeftDeg
	Degrees of left-side boundary constraints: 1, 2, ..., P-1.
static constexpr std::array< int, std::size_t(P - 1)>	RghtDeg = LeftDeg
	Degrees of left-side boundary constraints: 1, 2, ..., P-1.

Detailed Description

template<LieGroup G, int K = 6, int O = 3, int P = 3>
struct spline_specs::MinDerivative< G, K, O, P >

SplineSpec for optimized spline.

Template Parameters

K	spline degree
O	order to optimize
P	continuity order

Definition at line 102 of file fit.hpp.

Member Data Documentation

Degree

template<LieGroup G, int K = 6, int O = 3, int P = 3>

constexpr int spline_specs::MinDerivative< G, K, O, P >::Degree = K

staticconstexpr

Polynomial degree.

Definition at line 105 of file fit.hpp.

InnCnt

template<LieGroup G, int K = 6, int O = 3, int P = 3>

constexpr int spline_specs::MinDerivative< G, K, O, P >::InnCnt = P

staticconstexpr

Number of derivatives to enforce continuity for.

Definition at line 109 of file fit.hpp.

left_values

template<LieGroup G, int K = 6, int O = 3, int P = 3>

std::array<Tangent<G>, std::size_t(P - 1)> spline_specs::MinDerivative< G, K, O, P >::left_values

Initial value:

= []() {
    std::array<Tangent<G>, std::size_t(P - 1)> ret;
    ret.fill(Tangent<G>::Zero());
    return ret;
  }()

Values of left-side boundary constraints.

Definition at line 119 of file fit.hpp.

LeftDeg

template<LieGroup G, int K = 6, int O = 3, int P = 3>

constexpr std::array<int, std::size_t(P - 1)> spline_specs::MinDerivative< G, K, O, P >::LeftDeg

staticconstexpr

Initial value:

= []() {
    std::array<int, std::size_t(P - 1)> ret;
    for (auto i = 0; i + 1 < P; ++i) { ret[static_cast<std::size_t>(i)] = i + 1; }
    return ret;
  }()

Degrees of left-side boundary constraints: 1, 2, ..., P-1.

Definition at line 112 of file fit.hpp.

OptDeg

template<LieGroup G, int K = 6, int O = 3, int P = 3>

constexpr int spline_specs::MinDerivative< G, K, O, P >::OptDeg = O

staticconstexpr

Optimization degree (absolute integral of derivative OptDeg is minimized)

Definition at line 107 of file fit.hpp.

rght_values

template<LieGroup G, int K = 6, int O = 3, int P = 3>

std::array<Tangent<G>, std::size_t(P - 1)> spline_specs::MinDerivative< G, K, O, P >::rght_values = left_values

Values of right-side boundary constraints.

Definition at line 128 of file fit.hpp.

RghtDeg

template<LieGroup G, int K = 6, int O = 3, int P = 3>

constexpr std::array<int, std::size_t(P - 1)> spline_specs::MinDerivative< G, K, O, P >::RghtDeg = LeftDeg

staticconstexpr

Degrees of left-side boundary constraints: 1, 2, ..., P-1.

Definition at line 126 of file fit.hpp.

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The documentation for this struct was generated from the following file:

• include/smooth/spline/fit.hpp