interpolation.h File Reference

Second- and third-order interpolation utilities. More...

#include <stdbool.h>
#include "copp/core.h"

Go to the source code of this file.

Functions
enum CoppStatus	copp_a_to_b_2nd (struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppVecF64 *out_b)
	Compute TOPP2 segment profile b from node profile a.
enum CoppStatus	copp_s_to_t_2nd (struct CoppSliceF64 s, struct CoppSliceF64 a, double t0, double *out_t_final, struct CoppVecF64 *out_t_s)
	Compute cumulative TOPP2 time profile t(s) from node profile a(s).
enum CoppStatus	copp_t_to_s_uniform_2nd (struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 t_s, double t0, double dt, bool include_final, struct CoppVecF64 *out_s_t)
	Interpolate s(t) from TOPP2 profiles using a uniform time grid.
enum CoppStatus	copp_t_to_s_non_uniform_2nd (struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 t_s, struct CoppSliceF64 t_sample, struct CoppVecF64 *out_s_t)
	Interpolate s(t) from TOPP2 profiles using caller-provided time samples.
enum CoppStatus	copp_s_to_t_3rd (struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, double t0, double *out_t_final, struct CoppVecF64 *out_t_s)
	Compute cumulative TOPP3/COPP3 time profile t(s) from node profiles a(s) = dot{s}^2 and b(s) = ddot{s}.
enum CoppStatus	copp_t_to_s_uniform_3rd (struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, struct CoppSliceF64 t_s, double t0, double dt, bool include_final, struct CoppVecF64 *out_s_t)
	Interpolate s(t) from TOPP3/COPP3 profiles using a uniform time grid.
enum CoppStatus	copp_t_to_s_non_uniform_3rd (struct CoppSliceF64 s, struct CoppSliceF64 a, struct CoppSliceF64 b, size_t num_stationary_start, size_t num_stationary_end, struct CoppSliceF64 t_s, struct CoppSliceF64 t_sample, struct CoppVecF64 *out_s_t)
	Interpolate s(t) from TOPP3/COPP3 profiles using caller-provided time samples.
enum CoppStatus	copp_force_positive_a_3rd (struct CoppSliceF64 s, struct CoppSliceMutF64 a, struct CoppSliceMutF64 b, size_t num_stationary_start, size_t num_stationary_end, double a_min, bool *out_succeed)
	Adjust mutable TOPP3/COPP3 a and b node profiles in place so interpolated a(s) stays strictly positive per interval.

Detailed Description

Second- and third-order interpolation utilities.

Definition in file interpolation.h.