towr::NodeSpline Class Reference

A spline built from node values and fixed polynomial durations. More...

#include <node_spline.h>

Inheritance diagram for towr::NodeSpline:

List of all members.

Public Member Functions
virtual Jacobian	GetJacobianOfPosWrtDurations (double t) const
	How the spline position changes when the polynomial durations change.
Jacobian	GetJacobianWrtNodes (double t, Dx dxdt) const
	How the spline changes when the node values change.
Jacobian	GetJacobianWrtNodes (int poly_id, double t_local, Dx dxdt) const
	How the spline changes when the node values change.
int	GetNodeVariablesCount () const
	NodeSpline (NodeSubjectPtr const node_variables, const VecTimes &polynomial_durations)
	Constructs a spline with constant durations.
void	UpdateNodes ()
	Called by subject to update the polynomials with new node values.
	~NodeSpline ()
Protected Member Functions
void	FillJacobianWrtNodes (int poly_id, double t_local, Dx dxdt, Jacobian &jac, bool fill_with_zeros) const
	Fills specific elements of the Jacobian with respect to nodes.
Protected Attributes
Jacobian	jac_wrt_nodes_structure_

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Detailed Description

A spline built from node values and fixed polynomial durations.

This class is responsible for combining the optimized node values with fixed polynomial durations to construct a sequence of CubicHermitePolynomial. For this it observers whether the node values change and then updates all the polynomials accordingly.

Definition at line 50 of file node_spline.h.

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Constructor & Destructor Documentation

towr::NodeSpline::NodeSpline	(	NodeSubjectPtr const	node_variables,
		const VecTimes &	polynomial_durations
	)

Constructs a spline with constant durations.

Parameters:

nodes_variables	The optimized node variables (pos, vel).
phase_durations	The fixed duration of each phase.

Definition at line 36 of file node_spline.cc.

towr::NodeSpline::~NodeSpline

(

)

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Member Function Documentation

void towr::NodeSpline::FillJacobianWrtNodes	(	int	poly_id,
		double	t_local,
		Dx	dxdt,
		Jacobian &	jac,
		bool	fill_with_zeros
	)		const [protected]

Fills specific elements of the Jacobian with respect to nodes.

Parameters:

poly_id	The ID of the polynomial for which to get the sensitivity.
t_local	The time passed in the polynomial with poly_id.
dxdt	Whether the function is position, velocity or acceleration.
jac[in/out]	The correctly sized Jacobian to fill.
fill_with_zeros	True if only sparsity pattern should be set.

Definition at line 86 of file node_spline.cc.

virtual Jacobian towr::NodeSpline::GetJacobianOfPosWrtDurations

(

double

t

)

const [inline, virtual]

How the spline position changes when the polynomial durations change.

Parameters:

t	The time along the spline at which the sensitivity is required.

Returns:

the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized durations.

Reimplemented in towr::PhaseSpline.

Definition at line 103 of file node_spline.h.

NodeSpline::Jacobian towr::NodeSpline::GetJacobianWrtNodes	(	double	t,
		Dx	dxdt
	)		const

How the spline changes when the node values change.

Parameters:

t	The time along the spline at which the sensitivity is required.
dxdt	Whether the derivative of the pos, vel or acc is desired.

Returns:

the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized node variables.

Definition at line 64 of file node_spline.cc.

NodeSpline::Jacobian towr::NodeSpline::GetJacobianWrtNodes	(	int	poly_id,
		double	t_local,
		Dx	dxdt
	)		const

How the spline changes when the node values change.

Parameters:

poly_id	Polynomial for which the sensitivity is desired.
t_local	Local time in that specific polynomial.
dxdt	Whether the derivative of the pos, vel or acc is desired.

Returns:

the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized node variables.

Definition at line 73 of file node_spline.cc.

int towr::NodeSpline::GetNodeVariablesCount

(

)

const

Returns:

The number of node variables being optimized over.

Definition at line 58 of file node_spline.cc.

void towr::NodeSpline::UpdateNodes

(

)

[virtual]

Called by subject to update the polynomials with new node values.

Implements towr::NodesObserver.

Definition at line 47 of file node_spline.cc.

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Member Data Documentation

Jacobian towr::NodeSpline::jac_wrt_nodes_structure_ [mutable, protected]

The size and non-zero elements of the Jacobian of the position w.r.t nodes.

Definition at line 110 of file node_spline.h.

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The documentation for this class was generated from the following files:

• node_spline.h
• node_spline.cc