7 #ifndef SOT_TOOLS_KINEMATIC_PLANNER_HH 8 #define SOT_TOOLS_KINEMATIC_PLANNER_HH 17 #include <dynamic-graph/entity.h> 18 #include <dynamic-graph/factory.h> 19 #include <dynamic-graph/signal-base.h> 20 #include <dynamic-graph/signal-ptr.h> 21 #include <dynamic-graph/signal-time-dependent.h> 23 #include <dynamic-graph/linear-algebra.h> 24 #include <sot/core/debug.hh> 27 #include <Eigen/StdVector> 28 #include <unsupported/Eigen/FFT> 29 #include <unsupported/Eigen/Splines> 30 #include <unsupported/Eigen/MatrixFunctions> 39 using dynamicgraph::Entity;
44 typedef std::vector<Eigen::ArrayXd, Eigen::aligned_allocator<Eigen::ArrayXd> >
stdVectorofArrayXd;
95 template <
typename Derived>
96 void read2DArray(std::string& fileName, Eigen::DenseBase<Derived>& outArr);
98 void setParams(
const double& _distanceToDrawer,
const double& _objectPositionInDrawer,
const std::string& dir);
100 void loadTrainingParams(
const std::string& dir, dynamicgraph::Matrix& q, dynamicgraph::Matrix& beta3,
101 Eigen::ArrayXd& mwwn,
double& sigma2,
int& N,
int& K);
105 void smoothEnds(Eigen::Ref<Eigen::ArrayXd> tr);
108 void goalAdaption(dynamicgraph::Vector& goals,
const std::string&);
109 void savitzkyGolayFilter(Eigen::Ref<Eigen::ArrayXXd> allJointTraj,
int polyOrder,
int frameSize);
117 #endif // SOT_TOOLS_KINEMATIC_PLANNER_HH
Definition: cubic-interpolation-se3.hh:15