Class Vertex¶

Defined in File vertex.h

Class Documentation¶

class Vertex¶

A vertex describes the properties of a support point of a path.

A vertex has a set of constraints, the derivative of position a value, that have to be matched during optimization procedures. In case of a multi-dimensional vertex (mostly 3D), the constraint for a derivative exists in all dimensions, but can have different values in each dimension. X———X————X vertex segment

Public Types

typedef std::vector<Vertex> Vector¶

typedef Eigen::VectorXd ConstraintValue¶

typedef std::pair<int, ConstraintValue> Constraint¶

typedef std::map<int, ConstraintValue> Constraints¶

Public Functions

Vertex(size_t dimension)¶: Constructs an empty vertex and sets time_to_next and derivative_to_optimize to zero.

int D() const¶

void addConstraint(int derivative_order, double value)¶

Adds a constraint for the specified derivative order with the given value.

If this is a multi-dimensional vertex, all dimensions are set to the same value.

void addConstraint(int type, const Eigen::VectorXd &constraint)¶

Adds a constraint for the derivative specified in type with the given values in the constraint vector.

The dimension has to match the derivative.

bool removeConstraint(int type)¶

Removes a constraint for the derivative specified in type.

Returns false if constraint was not set.

void makeStartOrEnd(const Eigen::VectorXd &constraint, int up_to_derivative)¶

Sets a constraint for position and sets all derivatives up to (including) up_to_derivative to zero.

Convenience method for beginning / end vertices. up_to_derivative should be set to getHighestDerivativeFromN(N), where N is the order of your polynomial.

void makeStartOrEnd(double value, int up_to_derivative)¶

bool hasConstraint(int derivative_order) const¶: Returns whether the vertex has a constraint for the specified derivative order.

bool getConstraint(int derivative_order, Eigen::VectorXd *constraint) const¶: Passes the value of the constraint for derivative order to *value, and returns whether the constraint is set.

Constraints::const_iterator cBegin() const¶: Returns a const iterator to the first constraint.

Constraints::const_iterator cEnd() const¶

Returns a const iterator to the end of the constraints, i.e.

one after the last element.

size_t getNumberOfConstraints() const¶: Returns the number of constraints.

bool isEqualTol(const Vertex &rhs, double tol) const¶: Checks if both lhs and rhs are equal up to tol in case of double values.

bool getSubdimension(const std::vector<size_t> &subdimensions, int max_derivative_order, Vertex *subvertex) const¶: Get subdimension vertex.