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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