#include <param_func_spline0_dist.h>

Inheritance diagram for tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >:

[legend]

Classes
struct	FuncCacheData
	Structure referencing a control point and storing cached relevant function evaluation data (derivatives, integrals etc.). More...

Public Types
using	NumType = TNumType

Public Types inherited from tuw::ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize >
using	NumType = TNumType

using	ParamFuncsBaseType = ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize >

Public Types inherited from tuw::ParamFuncsDistBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType >
using	NumType = TNumType

using	ParramFuncsDistBaseType = ParamFuncsDistBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType >

Public Types inherited from tuw::ParamFuncsDist
enum	TraveledDistCfMode { TraveledDistCfMode::NONE, TraveledDistCfMode::V, TraveledDistCfMode::AV }
	Required type of traveled distance computation relative to the parametric function. More...

Public Types inherited from tuw::ParamFuncs
enum	CtrlPtDim { CtrlPtDim::VAL, CtrlPtDim::ARC }
	Control point variable dimension. More...

enum	EvalArcGuarantee { EvalArcGuarantee::NONE, EvalArcGuarantee::AFTER_LAST, EvalArcGuarantee::BEFORE_LAST, EvalArcGuarantee::AT_BEGIN, EvalArcGuarantee::AT_END }
	Flags if any guarantees about evaluation arc relative to last evaluation arc are present. More...

enum	FuncEvalMode { FuncEvalMode::DIFF1, FuncEvalMode::DIFF2, FuncEvalMode::INT1, FuncEvalMode::INT2, FuncEvalMode::FUNC, FuncEvalMode::ENUM_SIZE }
	Required type of computation relative to the parametric function. More...

using	FuncEvalModesFlags = std::array< bool, nrModesMax_ >

Public Member Functions
virtual double	computeFuncDiff1 (const std::size_t &_funcIdx) const override
	Computes 1st derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

TNumType	computeFuncDiff1Impl (const std::size_t &_funcIdx) const

virtual double	computeFuncDiff2 (const std::size_t &_funcIdx) const override
	Computes 2nd derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

TNumType	computeFuncDiff2Impl (const std::size_t &_funcIdx) const

virtual double	computeFuncInt1 (const std::size_t &_funcIdx) const override
	Computes integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_]. More...

TNumType	computeFuncInt1Impl (const std::size_t &_funcIdx) const

virtual double	computeFuncInt2 (const std::size_t &_funcIdx) const override
	Computes double integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_]. More...

TNumType	computeFuncInt2Impl (const std::size_t &_funcIdx) const

virtual double	computeFuncVal (const std::size_t &_funcIdx) const override
	Computes value of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

TNumType	computeFuncValImpl (const std::size_t &_funcIdx) const

double	computeS () const override

void	computeS2TLattice (const std::vector< double > &_sLattice, std::vector< double > &_tLattice) override
	Computes arc parametrization lattice given a distance-parametrized lattice. More...

void	computeS2TLattice (const double &_arc0, const double &_ds, std::vector< double > &_tLattice) override
	Computes arc parametrization lattice given an inital arc and distance parametrized sampling interval. More...

void	computeS2TLatticeImpl (const std::vector< TNumType > &_sLattice, std::vector< TNumType > &_tLattice)

void	computeS2TLatticeImpl (const TNumType &_arc0, const TNumType &_ds, std::vector< TNumType > &_tLattice)

TNumType	computeSImpl () const

double	computeT (const double &_s, const EvalArcGuarantee &_evalArcGuarantee=EvalArcGuarantee::NONE) override

TNumType	computeTImpl (const TNumType &_s, const EvalArcGuarantee &_evalArcGuarantee)

ParamFuncsSpline0Dist &	operator= (const ParamFuncsSpline0Dist &)

ParamFuncsSpline0Dist &	operator= (ParamFuncsSpline0Dist &&)=delete

ParamFuncsSpline0Dist &	operator= (const ParamFuncsSpline0Dist &_other)

ParamFuncsSpline0Dist &	operator= (ParamFuncsSpline0Dist &&)=delete

	ParamFuncsSpline0Dist ()=default

	ParamFuncsSpline0Dist (const ParamFuncsSpline0Dist &)

	ParamFuncsSpline0Dist (ParamFuncsSpline0Dist &&)=delete

	ParamFuncsSpline0Dist ()=default

	ParamFuncsSpline0Dist (const ParamFuncsSpline0Dist &_other)

	ParamFuncsSpline0Dist (ParamFuncsSpline0Dist &&)=delete

virtual void	precompute () override
	Precomputes cached data. To be called after ANY control point modifications. More...

void	precomputeImpl ()
	Precomputes cached data. To be called after ANY control point modifications. More...

void	setDistCfMode (TraveledDistCfMode _distCfMode, const std::vector< std::size_t > &_distRelFuncIdx) override

void	setDistCfModeImpl (TraveledDistCfMode _distCfMode, const std::vector< std::size_t > &_distRelFuncIdx)

void	setEvalArc (const double &_funcsArcEval, const EvalArcGuarantee &_evalArcGuarantee=EvalArcGuarantee::NONE) override
	Sets parametric function evaluation arc. More...

void	setEvalArcImpl (const TNumType &_arcEval, const EvalArcGuarantee &_eAG)

void	setEvalDist (const double &_funcsDistEval, const EvalArcGuarantee &_evalArcGuarantee=EvalArcGuarantee::NONE) override
	Moves to evaluation arc at which the traveled distance _funcsDistEval is achieved. More...

void	setEvalDistImpl (const TNumType &_funcsDistEval, const EvalArcGuarantee &_evalArcGuarantee)

virtual	~ParamFuncsSpline0Dist ()=default

virtual	~ParamFuncsSpline0Dist ()=default

Public Member Functions inherited from tuw::ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize >
ParamFuncsBase &	operator= (const ParamFuncsBase &_other)

ParamFuncsBase &	operator= (ParamFuncsBase &&)=default

	ParamFuncsBase ()

	ParamFuncsBase (const ParamFuncsBase &_other)

	ParamFuncsBase (ParamFuncsBase &&)=default

virtual	~ParamFuncsBase ()=default

Public Member Functions inherited from tuw::ParamFuncsBaseCRTP< ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize > >
NumType	computeFuncDiff1 (const std::size_t &_funcIdx) const
	Computes 1st derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

NumType	computeFuncDiff2 (const std::size_t &_funcIdx) const
	Computes 2nd derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

NumType	computeFuncInt1 (const std::size_t &_funcIdx) const
	Computes integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_]. More...

NumType	computeFuncInt2 (const std::size_t &_funcIdx) const
	Computes double integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_]. More...

NumType	computeFuncVal (const std::size_t &_funcIdx) const
	Computes value of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

FuncCtrlPtType &	ctrlPt (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx)
	Access of a parametric function control point. More...

const FuncCtrlPtType &	ctrlPt (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx) const
	Const access of a parametric function control point. More...

NumType &	ctrlPtVal (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx, const CtrlPtDim &_ctrlPtDim=CtrlPtDim::VAL)
	Access of a parametric function control point dimension. More...

const NumType &	ctrlPtVal (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx, const CtrlPtDim &_ctrlPtDim=CtrlPtDim::VAL) const
	Const of a parametric function control point dimension. More...

std::size_t	funcCtrlPtSize (const std::size_t &_i) const
	Number of control points for a parametric function. More...

NumType &	funcsArc (const std::size_t &_i, const std::size_t &_j)
	Access to the arc parameter vector at index _i, control point _j. More...

const NumType &	funcsArc (const std::size_t &_i, const std::size_t &_j) const
	Const access the arc parameter vector at index _i, control point _j. More...

NumType &	funcsArcBegin ()
	Access to the initial value of the arc parametrization. More...

const NumType &	funcsArcBegin () const
	Const access to the initial value of the arc parametrization. More...

NumType &	funcsArcEnd ()
	Access to the final value of the arc parametrization. More...

const NumType &	funcsArcEnd () const
	Const access to the finall value of the arc parametrization. More...

const NumType &	funcsArcEval () const
	Const access to the active evaluation point arc parametrization. More...

std::size_t	funcsArcSize () const
	Number of arc parametrizations. More...

std::size_t	funcsArcSize (const std::size_t &_i) const
	Number of control points of parametrization _i. More...

std::size_t	funcsSize () const
	Number of parametric functions. More...

void	init (const TParamFucsStructVecArr &_paramFuncsStructure)
	Initializes the control structure. More...

ParamFuncsBaseCRTP &	operator= (const ParamFuncsBaseCRTP &)=default

ParamFuncsBaseCRTP &	operator= (ParamFuncsBaseCRTP &&)=default

	ParamFuncsBaseCRTP ()=default

	ParamFuncsBaseCRTP (const ParamFuncsBaseCRTP &)=default

	ParamFuncsBaseCRTP (ParamFuncsBaseCRTP &&)=default

void	precompute ()
	Precomputes cached data. More...

void	setEvalArc (const NumType &_arcEval, const eAG &_eAG=eAG::NONE)
	Sets parametric function evaluation arc. More...

void	shiftStartCtrlPt (const NumType &_dt)

	~ParamFuncsBaseCRTP ()=default

Public Member Functions inherited from tuw::ParamFuncsBaseVirt< TNumType >
TNumType	computeFuncDiff1 (const std::size_t &_funcIdx) const
	Computes 1st derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

TNumType	computeFuncDiff2 (const std::size_t &_funcIdx) const
	Computes 2nd derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

TNumType	computeFuncInt1 (const std::size_t &_funcIdx) const
	Computes integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_]. More...

TNumType	computeFuncInt2 (const std::size_t &_funcIdx) const
	Computes double integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_]. More...

TNumType	computeFuncVal (const std::size_t &_funcIdx) const
	Computes value of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

FuncCtrlPtType &	ctrlPt (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx)
	Access of a parametric function control point. More...

const FuncCtrlPtType &	ctrlPt (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx) const
	Const access of a parametric function control point. More...

TNumType &	ctrlPtVal (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx, const CtrlPtDim &_ctrlPtDim=CtrlPtDim::VAL)
	Access of a parametric function control point dimension. More...

const TNumType &	ctrlPtVal (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx, const CtrlPtDim &_ctrlPtDim=CtrlPtDim::VAL) const
	Const of a parametric function control point dimension. More...

std::size_t	funcCtrlPtSize (const std::size_t &_i) const
	Number of control points for a parametric function. More...

TNumType &	funcsArc (const std::size_t &_i, const std::size_t &_j)
	Access to the arc parameter vector at index _i, control point _j. More...

const TNumType &	funcsArc (const std::size_t &_i, const std::size_t &_j) const
	Const access the arc parameter vector at index _i, control point _j. More...

TNumType &	funcsArcBegin ()
	Access to the initial value of the arc parametrization. More...

const TNumType &	funcsArcBegin () const
	Const access to the initial value of the arc parametrization. More...

TNumType &	funcsArcEnd ()
	Access to the final value of the arc parametrization. More...

const TNumType &	funcsArcEnd () const
	Const access to the finall value of the arc parametrization. More...

const TNumType &	funcsArcEval () const
	Const access to the active evaluation point arc parametrization. More...

std::size_t	funcsArcSize () const
	Number of arc parametrizations. More...

std::size_t	funcsArcSize (const std::size_t &_i) const
	Number of control points of parametrization _i. More...

std::size_t	funcsSize () const
	Number of parametric functions. More...

void	init (const std::vector< ParamFuncsStructure > &_paramFuncsStructure)
	Initializes the control structure. More...

ParamFuncsBaseVirt &	operator= (const ParamFuncsBaseVirt &)=default

ParamFuncsBaseVirt &	operator= (ParamFuncsBaseVirt &&)=default

	ParamFuncsBaseVirt ()=default

	ParamFuncsBaseVirt (const ParamFuncsBaseVirt &)=default

	ParamFuncsBaseVirt (ParamFuncsBaseVirt &&)=default

void	precompute ()
	Precomputes cached data. More...

void	setEvalArc (const TNumType &_arcEval, const eAG &_eAG=eAG::NONE)
	Sets parametric function evaluation arc. More...

void	shiftStartCtrlPt (const TNumType &_dt)

virtual	~ParamFuncsBaseVirt ()=default

Public Member Functions inherited from tuw::ParamFuncsDistBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType >
ParamFuncsDistBase &	operator= (const ParamFuncsDistBase &)=default

ParamFuncsDistBase &	operator= (ParamFuncsDistBase &&)=delete

	ParamFuncsDistBase ()=default

	ParamFuncsDistBase (const ParamFuncsDistBase &)=default

	ParamFuncsDistBase (ParamFuncsDistBase &&)=delete

virtual	~ParamFuncsDistBase ()=default

Public Member Functions inherited from tuw::ParamFuncsDistBaseCRTP< ParamFuncsDistBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType > >
NumType	computeS () const

void	computeS2TLattice (const std::vector< NumType > &_sLattice, std::vector< NumType > &_tLattice)
	Computes arc parametrization lattice given a distance-parametrized lattice. More...

void	computeS2TLattice (const NumType &_arc0, const NumType &_ds, std::vector< NumType > &_tLattice)
	Computes arc parametrization lattice given an inital arc and distance parametrized sampling interval. More...

NumType	computeT (const NumType &_s, const EvalArcGuarantee &_eAG=EvalArcGuarantee::NONE)

ParamFuncsDistBaseCRTP &	operator= (const ParamFuncsDistBaseCRTP &)=default

ParamFuncsDistBaseCRTP &	operator= (ParamFuncsDistBaseCRTP &&)=delete

	ParamFuncsDistBaseCRTP ()=default

	ParamFuncsDistBaseCRTP (const ParamFuncsDistBaseCRTP &)=default

	ParamFuncsDistBaseCRTP (ParamFuncsDistBaseCRTP &&)=delete

void	setDistCfMode (TraveledDistCfMode _distCfMode, const std::vector< std::size_t > &_distRelFuncIdx)
	Initializer of the Closed form distance computation mode. More...

void	setEvalDist (const NumType &_funcsDistEval, const EvalArcGuarantee &_eAG=EvalArcGuarantee::NONE)
	Moves to evaluation arc at which the traveled distance _funcsDistEval is achieved. More...

	~ParamFuncsDistBaseCRTP ()=default

Public Member Functions inherited from tuw::ParamFuncsDistBaseVirt< TNumType >
TNumType	computeS () const

void	computeS2TLattice (const std::vector< TNumType > &_sLattice, std::vector< TNumType > &_tLattice)
	Computes arc parametrization lattice given a distance-parametrized lattice. More...

void	computeS2TLattice (const TNumType &_arc0, const TNumType &_ds, std::vector< TNumType > &_tLattice)
	Computes arc parametrization lattice given an inital arc and distance parametrized sampling interval. More...

TNumType	computeT (const TNumType &_s, const EvalArcGuarantee &_eAG=EvalArcGuarantee::NONE)

ParamFuncsDistBaseVirt &	operator= (const ParamFuncsDistBaseVirt &)=default

ParamFuncsDistBaseVirt &	operator= (ParamFuncsDistBaseVirt &&)=delete

	ParamFuncsDistBaseVirt ()=default

	ParamFuncsDistBaseVirt (const ParamFuncsDistBaseVirt &)=default

	ParamFuncsDistBaseVirt (ParamFuncsDistBaseVirt &&)=delete

void	setDistCfMode (TraveledDistCfMode _distCfMode, const std::vector< std::size_t > &_distRelFuncIdx)
	Initializer of the Closed form distance computation mode. More...

void	setEvalDist (const TNumType &_funcsDistEval, const EvalArcGuarantee &_eAG=EvalArcGuarantee::NONE)
	Moves to evaluation arc at which the traveled distance _funcsDistEval is achieved. More...

virtual	~ParamFuncsDistBaseVirt ()=default

Public Member Functions inherited from tuw::ParamFuncsDist
ParamFuncsDist &	operator= (const ParamFuncsDist &_other)=default

ParamFuncsDist &	operator= (ParamFuncsDist &&)=delete

	ParamFuncsDist ()=default

	ParamFuncsDist (const ParamFuncsDist &_other)=default

	ParamFuncsDist (ParamFuncsDist &&)=delete

virtual void	setDistCfMode (TraveledDistCfMode _distCfMode, const std::vector< std::size_t > &_distRelFuncIdx)=0
	Initializer of the Closed form distance computation mode. More...

virtual	~ParamFuncsDist ()=default

Public Member Functions inherited from tuw::ParamFuncs
FuncCtrlPt &	ctrlPt (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx)
	Access of a parametric function control point. More...

const FuncCtrlPt &	ctrlPt (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx) const
	Const access of a parametric function control point. More...

double &	ctrlPtVal (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx, const CtrlPtDim &_ctrlPtDim=CtrlPtDim::VAL)
	Access of a parametric function control point dimension. More...

const double &	ctrlPtVal (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx, const CtrlPtDim &_ctrlPtDim=CtrlPtDim::VAL) const
	Const of a parametric function control point dimension. More...

std::size_t	funcCtrlPtSize (const std::size_t &_i) const
	Number of control points for a parametric function. More...

double &	funcsArc (const std::size_t &_i, const std::size_t &_j)
	Access to the arc parameter vector at index _i, control point _j. More...

const double &	funcsArc (const std::size_t &_i, const std::size_t &_j) const
	Const access the arc parameter vector at index _i, control point _j. More...

double &	funcsArcBegin ()
	Access to the initial value of the arc parametrization. More...

const double &	funcsArcBegin () const
	Const access to the initial value of the arc parametrization. More...

double &	funcsArcEnd ()
	Access to the final value of the arc parametrization. More...

const double &	funcsArcEnd () const
	Const access to the finall value of the arc parametrization. More...

const double &	funcsArcEval () const
	Const access to the active evaluation point arc parametrization. More...

std::size_t	funcsArcSize () const
	Number of arc parametrizations. More...

std::size_t	funcsArcSize (const std::size_t &_i) const
	Number of control points of parametrization _i. More...

std::size_t	funcsSize () const
	Number of parametric functions. More...

void	init (const std::vector< tuw::ParamFuncs::ParamFuncsStructure > &_paramFuncsStructure)
	Initializes the control structure. More...

ParamFuncs &	operator= (const ParamFuncs &)

ParamFuncs &	operator= (ParamFuncs &&)=delete

	ParamFuncs ()=default

	ParamFuncs (const ParamFuncs &)

	ParamFuncs (ParamFuncs &&)=delete

void	shiftStartCtrlPt (const double &_dt)

virtual	~ParamFuncs ()=default

Static Public Member Functions
static double	computeDeltaS_V_AV (const double &_dt, const double &_v0, const double &_av)
	Helper function that computes deltaS (from the evalArc_ position) operating on one function control point interval (used by TraveledDistCfMode::V and TraveledDistCfMode::AV modes). More...

static TNumType	computeDeltaS_V_AV (const TNumType &_dt, const TNumType &_v0, const TNumType &_av)
	Helper function that computes deltaS (from the evalArc_ position) operating on one function control point interval (used by TraveledDistCfMode::V and TraveledDistCfMode::AV modes). More...

static double	computeDeltaT_V_AV (const double &_ds, const double &_v0, const double &_av)
	Helper function that computes deltaT (from the evalArc_ position) operating on one function control point interval (used by TraveledDistCfMode::V and TraveledDistCfMode::AV modes). More...

static TNumType	computeDeltaT_V_AV (const TNumType &_ds, const TNumType &_v0, const TNumType &_av)
	Helper function that computes deltaT (from the evalArc_ position) operating on one function control point interval (used by TraveledDistCfMode::V and TraveledDistCfMode::AV modes). More...

Protected Member Functions
virtual void	initImpl () override
	Called at end of init. To be used by extended classes. More...

template<bool FuncDyn = (IsFuncDyn), bool ArcDyn = IsArcDyn, typename std::enable_if<(FuncDyn)&&(ArcDyn)>::type * = nullptr>
void	initImplImpl ()

template<bool FuncDyn = (IsFuncDyn), bool ArcDyn = IsArcDyn, typename std::enable_if<(!FuncDyn)&&(ArcDyn)>::type * = nullptr>
void	initImplImpl ()

template<bool FuncDyn = (IsFuncDyn), bool ArcDyn = IsArcDyn, typename std::enable_if<(FuncDyn)&&(!ArcDyn)>::type * = nullptr>
void	initImplImpl ()

template<bool FuncDyn = (IsFuncDyn), bool ArcDyn = IsArcDyn, typename std::enable_if<(!FuncDyn)&&(!ArcDyn)>::type * = nullptr>
void	initImplImpl ()

Protected Member Functions inherited from tuw::ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize >
void	initImpl ()
	Called at end of init. To be used by extended classes. More...

Protected Attributes
std::vector< std::size_t >	funcEvalArcCacheIdxUnder_
	Contains the index of the next control point relative to the last evaluation point. More...

std::vector< std::vector< FuncCacheData > >	funcEvalCache_
	Cached values of the used function evaluation modes. More...

Protected Attributes inherited from tuw::ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize >
TNumType	funcsArcBegin_
	Arc parametrization at the beginning of the functions domain definitions (common for all functions). More...

TNumType	funcsArcEnd_
	Arc parametrization at the end of the functions domain definitions (common for all functions). More...

TNumType	funcsArcEval_
	Arc parametrization at the evaluation point (set by setEvalArc)/. More...

Protected Attributes inherited from tuw::ParamFuncs
std::vector< std::size_t >	func2Arc_
	Maps the parametrized functions to their afferent arc parametrizations. More...

std::vector< std::vector< FuncCtrlPt > >	funcCtrlPt_
	Stores the control points for all the parametrized functions. More...

std::vector< FuncEvalModesFlags >	funcEvalReq_
	Flags for required function computation modes. More...

double	funcsArcBegin_
	Arc parametrization at the beginning of the functions domain definitions (common for all functions). More...

double	funcsArcEnd_
	Arc parametrization at the end of the functions domain definitions (common for all functions). More...

double	funcsArcEval_
	Arc parametrization at the evaluation point (set by setEvalArc)/. More...

std::vector< ParamFuncsStructure >	paramFuncsStructure_
	Initialization structure "store" variable. More...

Private Types
using	ComputeDs2DtPtr = double(ParamFuncsSpline0Dist::*)(const double &) const

using	ComputeDs2DtPtr = TNumType(ParamFuncsSpline0Dist::*)(const TNumType &) const

using	ComputeSFuncPtr = double(ParamFuncsSpline0Dist::*)() const

using	ComputeSFuncPtr = TNumType(ParamFuncsSpline0Dist::*)() const

using	FuncCacheDataType = FuncCacheData< TNumType >

using	FuncCtrlPtType = FuncCtrlPt< TNumType >

using	ParamFuncsBaseType = ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize >

using	ParamFuncsDistBaseType = ParamFuncsDistBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType >

using	TDM = TraveledDistCfMode

Private Member Functions
double	computeFuncDeltaInt1 (const std::size_t &_funcIdx, const double &_arcEnd) const
	Computes the integral of the parametric function _ on interval [funcEvalArcCacheIdxOld_[func2Arc_[_funcIdx]] - 1, _arcEnd]. More...

TNumType	computeFuncDeltaInt1 (const std::size_t &_funcIdx, const TNumType &_arcEnd) const
	Computes the integral of the parametric function _ on interval [funcEvalArcCacheIdxOld_[func2Arc_[_funcIdx]] - 1, _arcEnd]. More...

double	computeFuncDeltaInt2 (const std::size_t &_funcIdx, const double &_arcEnd) const
	Computes the double integral integral of the parametric function _ on interval [funcEvalArcCacheIdxOld_[func2Arc_[_funcIdx]] - 1, _arcEnd]. More...

TNumType	computeFuncDeltaInt2 (const std::size_t &_funcIdx, const TNumType &_arcEnd) const
	Computes the double integral integral of the parametric function _ on interval [funcEvalArcCacheIdxOld_[func2Arc_[_funcIdx]] - 1, _arcEnd]. More...

double	computeS_AV () const
	Computes distance on a piecewise linear function describing the center linear acceleration. More...

TNumType	computeS_AV () const
	Computes distance on a piecewise linear function describing the center linear acceleration. More...

double	computeS_V () const
	Computes distance on a piecewise linear function describing the center linear velocity. More...

TNumType	computeS_V () const
	Computes distance on a piecewise linear function describing the center linear velocity. More...

double	computeT_AV (const double &_ds) const
	Computes arc parametrization on a piecewise linear function describing the center linear acceleration at a variation _ds. More...

TNumType	computeT_AV (const TNumType &_ds) const
	Computes arc parametrization on a piecewise linear function describing the center linear acceleration at a variation _ds. More...

double	computeT_V (const double &_ds) const
	Computes arc parametrization on a piecewise linear function describing the center linear velocity at a variation _ds. More...

TNumType	computeT_V (const TNumType &_ds) const
	Computes arc parametrization on a piecewise linear function describing the center linear velocity at a variation _ds. More...

double	computeTImpl (const double &_s, const EvalArcGuarantee &_evalArcGuarantee)
	Internal implementation of computing the arc parametrization given a distance _s. More...

TNumType	computeTImplInternal (const TNumType &_s, const EvalArcGuarantee &_evalArcGuarantee)
	Internal implementation of computing the arc parametrization given a distance _s. More...

void	precomputeDist ()
	Precomputes distance invervals. More...

void	precomputeDist ()
	Precomputes distance invervals. More...

Private Attributes
std::vector< std::vector< std::size_t > >	arc2func_
	Maps the arc parametrizations to the functions that use them. More...

ComputeDs2DtPtr	computeDs2DtPtr_

ComputeSFuncPtr	computeSFuncPtr_

TraveledDistCfMode	distCfMode_
	Closed form distance computation mode. More...

std::vector< double >	distEvalCache_
	Cached values of traveled distance computation. More...

std::vector< TNumType >	distEvalCache_
	Cached values of traveled distance computation. More...

std::size_t	distLinkedArcIdx_
	Index of the parametrized function that relates to distance computation. More...

std::vector< std::size_t >	distLinkedFuncIdx_
	Indexes of parametric functions used for computing the traveled distance. More...

std::vector< std::size_t >	distRelFuncIdx_

Static Private Attributes
static constexpr const bool	IsArcDyn = TArcLatticeSize == -1

static constexpr const bool	IsFuncDyn = TFuncSize == -1

Friends
template<typename TDerived2 , typename TNumType2 , int TFuncSize2, int TArcLatticeSize2>
class	ParamFuncsBase

Additional Inherited Members
Static Public Attributes inherited from tuw::ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize >
static constexpr const int	FuncSize

Static Public Attributes inherited from tuw::ParamFuncs
static constexpr const std::size_t	nrModesMax_ = asInt(FuncEvalMode::ENUM_SIZE) - 1
	Maximum number of computation modes (except the parametric function itself FUNC). Currently 4 other choices supported. More...

Protected Types inherited from tuw::ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize >
using	FuncCtrlPtType = FuncCtrlPt< TNumType >

Protected Types inherited from tuw::ParamFuncsBaseCRTP< ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize > >
using	eAG = EvalArcGuarantee

using	FuncCtrlPtType = FuncCtrlPt< NumType >

using	NumType = typename ParamFuncsBaseCRTPTraits< ParamFuncsBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType, TFuncSize, TArcLatticeSize > >::NumType

Protected Types inherited from tuw::ParamFuncsBaseVirt< TNumType >
using	eAG = EvalArcGuarantee

using	FuncCtrlPtType = FuncCtrlPt< TNumType >

Protected Types inherited from tuw::ParamFuncsDistBaseCRTP< ParamFuncsDistBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType > >
using	NumType = typename ParamFuncsDistBaseCRTPTraits< ParamFuncsDistBase< ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, TNumType > >::NumType

Detailed Description

template<typename TNumType, int TFuncSize, int TArcLatticeSize>
class tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >

Todo:

Test distance computation for AV input.

Should s0 = 0 (the way it is now) or add another function that sets it?

cout the control points and their arc parametrizations (override with dist also)

Todo:

Test distance computation for AV input.

Should s0 = 0 (the way it is now) or add another function that sets it?

cout the control points and their arc parametrizations (override with dist also)

Definition at line 53 of file param_func_spline0_dist.h.

Member Typedef Documentation

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ComputeDs2DtPtr = double (ParamFuncsSpline0Dist::*)(const double&) const

private

Definition at line 204 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ComputeDs2DtPtr = TNumType (ParamFuncsSpline0Dist::*)(const TNumType&) const

private

Definition at line 798 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ComputeSFuncPtr = double (ParamFuncsSpline0Dist::*)() const

private

Definition at line 201 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ComputeSFuncPtr = TNumType (ParamFuncsSpline0Dist::*)() const

private

Definition at line 795 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::FuncCacheDataType = FuncCacheData<TNumType>

private

Definition at line 116 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::FuncCtrlPtType = FuncCtrlPt<TNumType>

private

Definition at line 115 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::NumType = TNumType

Definition at line 125 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ParamFuncsBaseType = ParamFuncsBase<ParamFuncsSpline0Dist<TNumType, TFuncSize, TArcLatticeSize>, TNumType, TFuncSize, TArcLatticeSize>

private

Definition at line 112 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ParamFuncsDistBaseType = ParamFuncsDistBase<ParamFuncsSpline0Dist<TNumType, TFuncSize, TArcLatticeSize>, TNumType>

private

Definition at line 114 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

using tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::TDM = TraveledDistCfMode

private

Definition at line 504 of file param_func_spline0_dist.hpp.

Constructor & Destructor Documentation

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ParamFuncsSpline0Dist ( )

default

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

virtual tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::~ParamFuncsSpline0Dist ( )

virtualdefault

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

ParamFuncsSpline0Dist::ParamFuncsSpline0Dist ( const ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize > & _other )

Definition at line 72 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ParamFuncsSpline0Dist ( ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize > && )

delete

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ParamFuncsSpline0Dist ( )

default

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

virtual tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::~ParamFuncsSpline0Dist ( )

virtualdefault

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ParamFuncsSpline0Dist ( const ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize > & _other )

inline

Definition at line 134 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::ParamFuncsSpline0Dist ( ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize > && )

delete

Member Function Documentation

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeDeltaS_V_AV	(	const double &	_dt,
		const double &	_v0,
		const double &	_av
	)

static

Helper function that computes deltaS (from the evalArc_ position) operating on one function control point interval (used by TraveledDistCfMode::V and TraveledDistCfMode::AV modes).

Definition at line 245 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

static TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeDeltaS_V_AV	(	const TNumType &	_dt,
		const TNumType &	_v0,
		const TNumType &	_av
	)

inlinestatic

Helper function that computes deltaS (from the evalArc_ position) operating on one function control point interval (used by TraveledDistCfMode::V and TraveledDistCfMode::AV modes).

Definition at line 604 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeDeltaT_V_AV	(	const double &	_ds,
		const double &	_v0,
		const double &	_av
	)

static

Helper function that computes deltaT (from the evalArc_ position) operating on one function control point interval (used by TraveledDistCfMode::V and TraveledDistCfMode::AV modes).

Definition at line 273 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

static TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeDeltaT_V_AV	(	const TNumType &	_ds,
		const TNumType &	_v0,
		const TNumType &	_av
	)

inlinestatic

Helper function that computes deltaT (from the evalArc_ position) operating on one function control point interval (used by TraveledDistCfMode::V and TraveledDistCfMode::AV modes).

Definition at line 635 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncDeltaInt1	(	const std::size_t &	_funcIdx,
		const double &	_arcEnd
	)		const

private

Computes the integral of the parametric function _ on interval [funcEvalArcCacheIdxOld_[func2Arc_[_funcIdx]] - 1, _arcEnd].

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncDeltaInt1	(	const std::size_t &	_funcIdx,
		const TNumType &	_arcEnd
	)		const

inlineprivate

Computes the integral of the parametric function _ on interval [funcEvalArcCacheIdxOld_[func2Arc_[_funcIdx]] - 1, _arcEnd].

Definition at line 475 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncDeltaInt2	(	const std::size_t &	_funcIdx,
		const double &	_arcEnd
	)		const

private

Computes the double integral integral of the parametric function _ on interval [funcEvalArcCacheIdxOld_[func2Arc_[_funcIdx]] - 1, _arcEnd].

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncDeltaInt2	(	const std::size_t &	_funcIdx,
		const TNumType &	_arcEnd
	)		const

inlineprivate

Computes the double integral integral of the parametric function _ on interval [funcEvalArcCacheIdxOld_[func2Arc_[_funcIdx]] - 1, _arcEnd].

Definition at line 485 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeFuncDiff1 ( const std::size_t & _funcIdx ) const

overridevirtual

Computes 1st derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc.

Implements tuw::ParamFuncs.

Definition at line 227 of file param_func_spline0.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncDiff1Impl ( const std::size_t & _funcIdx ) const

inline

Definition at line 443 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeFuncDiff2 ( const std::size_t & _funcIdx ) const

overridevirtual

Computes 2nd derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc.

Implements tuw::ParamFuncs.

Definition at line 232 of file param_func_spline0.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncDiff2Impl ( const std::size_t & _funcIdx ) const

inline

Definition at line 451 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeFuncInt1 ( const std::size_t & _funcIdx ) const

overridevirtual

Computes integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_].

Implements tuw::ParamFuncs.

Definition at line 237 of file param_func_spline0.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncInt1Impl ( const std::size_t & _funcIdx ) const

inline

Definition at line 457 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeFuncInt2 ( const std::size_t & _funcIdx ) const

overridevirtual

Computes double integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_].

Implements tuw::ParamFuncs.

Definition at line 242 of file param_func_spline0.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncInt2Impl ( const std::size_t & _funcIdx ) const

inline

Definition at line 465 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeFuncVal ( const std::size_t & _funcIdx ) const

overridevirtual

Computes value of parametric function with index _funcIdx at parametric arc set by setEvalArc.

Implements tuw::ParamFuncs.

Definition at line 221 of file param_func_spline0.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeFuncValImpl ( const std::size_t & _funcIdx ) const

inline

Definition at line 435 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeS ( ) const

overridevirtual

Solves the equation $\int_{0}^{evalArc\_}{ |v(\mathbf{p}, t)| } dt = \_s$ for _deltaS (evalArc_: time, _s: traveled distance, v: body linear velocity, $\mathbf{p}$ : parametrized control points).

Implements tuw::ParamFuncsDist.

Definition at line 103 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeS2TLattice	(	const std::vector< double > &	_sLattice,
		std::vector< double > &	_tLattice
	)

overridevirtual

Computes arc parametrization lattice given a distance-parametrized lattice.

Parameters

_sLattice	Distance-parametrized input lattice. It is assumed that the vector is monotonically increasing.
_tLattice	Arc-parametrized output lattice.

Implements tuw::ParamFuncsDist.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeS2TLattice	(	const double &	_arc0,
		const double &	_ds,
		std::vector< double > &	_tLattice
	)

overridevirtual

Computes arc parametrization lattice given an inital arc and distance parametrized sampling interval.

The function computes the temporal lattice starting with s(_arc0) and ending with the maximum value of the arc parametrization.

Parameters

_sLattice	Distance-parametrized input lattice. It is assumed that the vector values are monotonically increasing.
_tLattice	Arc-parametrized output lattice.

Implements tuw::ParamFuncsDist.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeS2TLatticeImpl	(	const std::vector< TNumType > &	_sLattice,
		std::vector< TNumType > &	_tLattice
	)

inline

Definition at line 562 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeS2TLatticeImpl	(	const TNumType &	_arc0,
		const TNumType &	_ds,
		std::vector< TNumType > &	_tLattice
	)

inline

Definition at line 583 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeS_AV ( ) const

private

Computes distance on a piecewise linear function describing the center linear acceleration.

Definition at line 116 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeS_AV ( ) const

inlineprivate

Computes distance on a piecewise linear function describing the center linear acceleration.

Definition at line 752 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeS_V ( ) const

private

Computes distance on a piecewise linear function describing the center linear velocity.

Definition at line 107 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeS_V ( ) const

inlineprivate

Computes distance on a piecewise linear function describing the center linear velocity.

Definition at line 741 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeSImpl ( ) const

inline

Definition at line 534 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeT	(	const double &	_s,
		const EvalArcGuarantee &	_evalArcGuarantee = `EvalArcGuarantee::NONE`
	)

overridevirtual

Solves the equation $\int_{0}^{\_deltaT}{ |v(\mathbf{p}, t)| } dt = \_s$ for _s (evalArc_: time, _s: traveled distance, v: body linear velocity, $\mathbf{p}$ : parametrized control points).

Implements tuw::ParamFuncsDist.

Definition at line 176 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeT_AV ( const double & _ds ) const

private

Computes arc parametrization on a piecewise linear function describing the center linear acceleration at a variation _ds.

Definition at line 239 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeT_AV ( const TNumType & _ds ) const

inlineprivate

Computes arc parametrization on a piecewise linear function describing the center linear acceleration at a variation _ds.

Definition at line 772 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeT_V ( const double & _ds ) const

private

Computes arc parametrization on a piecewise linear function describing the center linear velocity at a variation _ds.

Definition at line 234 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeT_V ( const TNumType & _ds ) const

inlineprivate

Computes arc parametrization on a piecewise linear function describing the center linear velocity at a variation _ds.

Definition at line 764 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

double ParamFuncsSpline0Dist::computeTImpl	(	const double &	_s,
		const EvalArcGuarantee &	_evalArcGuarantee
	)

private

Internal implementation of computing the arc parametrization given a distance _s.

Definition at line 191 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeTImpl	(	const TNumType &	_s,
		const EvalArcGuarantee &	_evalArcGuarantee
	)

inline

Definition at line 540 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TNumType tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeTImplInternal	(	const TNumType &	_s,
		const EvalArcGuarantee &	_evalArcGuarantee
	)

inlineprivate

Internal implementation of computing the arc parametrization given a distance _s.

Definition at line 688 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void ParamFuncsSpline0Dist::initImpl ( )

overrideprotectedvirtual

Called at end of init. To be used by extended classes.

Implements tuw::ParamFuncs.

Definition at line 45 of file param_func_spline0.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

template<bool FuncDyn = (IsFuncDyn), bool ArcDyn = IsArcDyn, typename std::enable_if<(FuncDyn)&&(ArcDyn)>::type * = nullptr>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::initImplImpl ( )

inlineprotected

Definition at line 164 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

template<bool FuncDyn = (IsFuncDyn), bool ArcDyn = IsArcDyn, typename std::enable_if<(!FuncDyn)&&(ArcDyn)>::type * = nullptr>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::initImplImpl ( )

inlineprotected

Definition at line 195 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

template<bool FuncDyn = (IsFuncDyn), bool ArcDyn = IsArcDyn, typename std::enable_if<(FuncDyn)&&(!ArcDyn)>::type * = nullptr>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::initImplImpl ( )

inlineprotected

Definition at line 224 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

template<bool FuncDyn = (IsFuncDyn), bool ArcDyn = IsArcDyn, typename std::enable_if<(!FuncDyn)&&(!ArcDyn)>::type * = nullptr>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::initImplImpl ( )

inlineprotected

Definition at line 252 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

ParamFuncsSpline0Dist & ParamFuncsSpline0Dist::operator= ( const ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize > & _other )

Definition at line 77 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

ParamFuncsSpline0Dist& tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::operator= ( ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize > && )

delete

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

ParamFuncsSpline0Dist& tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::operator= ( const ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize > & _other )

inline

Definition at line 142 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

ParamFuncsSpline0Dist& tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::operator= ( ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize > && )

delete

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void ParamFuncsSpline0Dist::precompute ( )

overridevirtual

Precomputes cached data. To be called after ANY control point modifications.

Implements tuw::ParamFuncs.

Definition at line 73 of file param_func_spline0.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void ParamFuncsSpline0Dist::precomputeDist ( )

private

Precomputes distance invervals.

Definition at line 84 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::precomputeDist ( )

inlineprivate

Precomputes distance invervals.

Definition at line 668 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::precomputeImpl ( )

inline

Precomputes cached data. To be called after ANY control point modifications.

Definition at line 276 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void ParamFuncsSpline0Dist::setDistCfMode	(	TraveledDistCfMode	_distCfMode,
		const std::vector< std::size_t > &	_distRelFuncIdx
	)

override

Definition at line 47 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::setDistCfModeImpl	(	TraveledDistCfMode	_distCfMode,
		const std::vector< std::size_t > &	_distRelFuncIdx
	)

inline

Definition at line 508 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void ParamFuncsSpline0Dist::setEvalArc	(	const double &	_funcsArcEval,
		const EvalArcGuarantee &	_evalArcGuarantee = `EvalArcGuarantee::NONE`
	)

overridevirtual

Sets parametric function evaluation arc.

Implements tuw::ParamFuncs.

Definition at line 151 of file param_func_spline0.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::setEvalArcImpl	(	const TNumType &	_arcEval,
		const EvalArcGuarantee &	_eAG
	)

inline

Definition at line 356 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void ParamFuncsSpline0Dist::setEvalDist	(	const double &	_funcsDistEval,
		const EvalArcGuarantee &	_evalArcGuarantee = `EvalArcGuarantee::NONE`
	)

overridevirtual

Moves to evaluation arc at which the traveled distance _funcsDistEval is achieved.

Implements tuw::ParamFuncsDist.

Definition at line 171 of file param_func_spline0_dist.cpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

void tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::setEvalDistImpl	(	const TNumType &	_funcsDistEval,
		const EvalArcGuarantee &	_evalArcGuarantee
	)

inline

Definition at line 556 of file param_func_spline0_dist.hpp.

Friends And Related Function Documentation

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

template<typename TDerived2 , typename TNumType2 , int TFuncSize2, int TArcLatticeSize2>

friend class ParamFuncsBase

friend

Definition at line 807 of file param_func_spline0_dist.hpp.

Member Data Documentation

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

std::vector<std::vector<std::size_t> > tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::arc2func_

private

Maps the arc parametrizations to the functions that use them.

Definition at line 130 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

ComputeDs2DtPtr tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeDs2DtPtr_

private

Definition at line 210 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

ComputeSFuncPtr tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::computeSFuncPtr_

private

Definition at line 207 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

TraveledDistCfMode tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::distCfMode_

private

Closed form distance computation mode.

Definition at line 192 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

std::vector<double> tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::distEvalCache_

private

Cached values of traveled distance computation.

Definition at line 189 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

std::vector<TNumType> tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::distEvalCache_

private

Cached values of traveled distance computation.

Definition at line 783 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

std::size_t tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::distLinkedArcIdx_

private

Index of the parametrized function that relates to distance computation.

Definition at line 198 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

std::vector< std::size_t > tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::distLinkedFuncIdx_

private

Indexes of parametric functions used for computing the traveled distance.

Definition at line 186 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

std::vector< std::size_t > tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::distRelFuncIdx_

private

Todo:

Todo:

Definition at line 195 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

std::vector<std::size_t> tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::funcEvalArcCacheIdxUnder_

protected

Contains the index of the next control point relative to the last evaluation point.

Definition at line 124 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

std::vector<std::vector<FuncCacheData> > tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::funcEvalCache_

protected

Cached values of the used function evaluation modes.

Definition at line 127 of file param_func_spline0_dist.h.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

constexpr const bool tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::IsArcDyn = TArcLatticeSize == -1

staticprivate

Definition at line 122 of file param_func_spline0_dist.hpp.

template<typename TNumType, int TFuncSize, int TArcLatticeSize>

constexpr const bool tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >::IsFuncDyn = TFuncSize == -1

staticprivate

Definition at line 119 of file param_func_spline0_dist.hpp.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

template<typename TNumType, int TFuncSize, int TArcLatticeSize> class tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename TNumType, int TFuncSize, int TArcLatticeSize>
class tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >