Approximate the length of a Spline. More...
#include <roboptim/trajectory/spline-length.hh>
Public Member Functions | |
SplineLength (const CubicBSpline &spline, const size_type nDiscretizationPoints=100, boost::optional< interval_t > interval=boost::none_t()) throw () | |
virtual | ~SplineLength () 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 () |
Approximate the length of a Spline.
The length is computed using:
and
are given when the object is instantiated.
roboptim::SplineLength::SplineLength | ( | const CubicBSpline & | spline, |
const size_type | nDiscretizationPoints = 100 , |
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boost::optional< interval_t > | interval = boost::none_t () |
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) | throw () |
Construct the function from a Spline and a definition interval.
The interval allows to only compute the length of the Spline on a specific interval. The step associated to the interval controls the approximation precision.
spline | spline used for length computation |
interval | interval on which the length is computed. |
nDiscretizationPoints | number of discretization points |