roboptim::SplineLength Class Reference

Approximate the length of a Spline. More...

#include <roboptim/trajectory/spline-length.hh>

+ Inheritance diagram for roboptim::SplineLength:

Public Member Functions

 SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none_t()) throw ()
virtual ~SplineLength () throw ()
- Public Member Functions inherited from roboptim::TrajectoryCost< CubicBSpline >
 TrajectoryCost (const trajectory_t &traj, std::string name=std::string()) throw ()
 Concret class should call this constructor.
virtual ~TrajectoryCost () throw ()

Protected Member Functions

void impl_compute (result_t &, const argument_t &) const throw ()
void impl_gradient (gradient_t &, const argument_t &, size_type) const throw ()

Additional Inherited Members

- Public Types inherited from roboptim::TrajectoryCost< CubicBSpline >
typedef CubicBSpline trajectory_t
 Trajectory type.
- Protected Attributes inherited from roboptim::TrajectoryCost< CubicBSpline >
const trajectory_t & trajectory_
 Input trajectory.

Detailed Description

Approximate the length of a Spline.

The length is computed using:

\[\frac{1}{2} \int_{t_{min}}^{t_{max}} ||\ddot{\Gamma_p(t)}||^2 dt\]

$t_{min}$ and $t_{max}$ are given when the object is instantiated.

Examples:
spline-optimization.cc.