base_motion_constraint.h
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00007 * Redistributions of source code must retain the above copyright notice, this
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00010 * Redistributions in binary form must reproduce the above copyright notice,
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00014 * Neither the name of the copyright holder nor the names of its
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #ifndef TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
00031 #define TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
00032 
00033 #include <towr/variables/spline_holder.h>
00034 #include <towr/variables/spline.h>
00035 #include <towr/parameters.h>
00036 
00037 #include "time_discretization_constraint.h"
00038 
00039 namespace towr {
00040 
00047 class BaseMotionConstraint : public TimeDiscretizationConstraint {
00048 public:
00049 
00055   BaseMotionConstraint (const Parameters& params,
00056                         const SplineHolder& spline_holder);
00057   virtual ~BaseMotionConstraint () = default;
00058 
00059   void UpdateConstraintAtInstance (double t, int k, VectorXd& g) const override;
00060   void UpdateBoundsAtInstance (double t, int k, VecBound&) const override;
00061   virtual void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
00062 
00063 private:
00064   NodeSpline::Ptr base_linear_;
00065   NodeSpline::Ptr base_angular_;
00066 
00067   VecBound node_bounds_;     
00068   int GetRow (int node, int dim) const;
00069 };
00070 
00071 } /* namespace towr */
00072 
00073 #endif /* TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_ */


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44