Node variables used to construct the base motion spline. More...
#include <base_nodes.h>
Inheritance diagram for towr::BaseNodes:
Public Member Functions | |
| BaseNodes (int n_nodes, std::string variable_id) | |
| virtual std::vector< IndexInfo > | GetNodeInfoAtOptIndex (int idx) const override |
| The node information that the optimization index represents. | |
| virtual | ~BaseNodes () |
Detailed Description
Node variables used to construct the base motion spline.
Every node is optimized over, in contrast to PhaseNodes, where multiple nodes in the spline are represented by the same optimization variables.
Definition at line 43 of file base_nodes.h.
Constructor & Destructor Documentation
| towr::BaseNodes::BaseNodes | ( | int | n_nodes, |
| std::string | variable_id | ||
| ) |
- Parameters:
-
n_nodes The number of nodes to construct the spline. variable_id The name of this variables set in the optimization.
Definition at line 35 of file base_nodes.cc.
| virtual towr::BaseNodes::~BaseNodes | ( | ) | [virtual] |
Member Function Documentation
| std::vector< BaseNodes::IndexInfo > towr::BaseNodes::GetNodeInfoAtOptIndex | ( | int | idx | ) | const [override, virtual] |
The node information that the optimization index represents.
- Parameters:
-
idx The index (=row) of the node optimization variable.
- Returns:
- Semantic information on what that optimization variables means.
One optimization variables can also represent multiple nodes in the spline if they are always equal (e.g. constant phases). This is why this function returns a vector.
Implements towr::Nodes.
Definition at line 43 of file base_nodes.cc.
The documentation for this class was generated from the following files: