Public Member Functions | Protected Member Functions | Protected Attributes
towr::NodeSpline Class Reference

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

#include <node_spline.h>

Inheritance diagram for towr::NodeSpline:
Inheritance graph
[legend]

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_

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.


Constructor & Destructor Documentation

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

Constructs a spline with constant durations.

Parameters:
nodes_variablesThe optimized node variables (pos, vel).
phase_durationsThe fixed duration of each phase.

Definition at line 36 of file node_spline.cc.


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_idThe ID of the polynomial for which to get the sensitivity.
t_localThe time passed in the polynomial with poly_id.
dxdtWhether the function is position, velocity or acceleration.
jac[in/out]The correctly sized Jacobian to fill.
fill_with_zerosTrue 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:
tThe 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:
tThe time along the spline at which the sensitivity is required.
dxdtWhether 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_idPolynomial for which the sensitivity is desired.
t_localLocal time in that specific polynomial.
dxdtWhether 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.

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.


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.


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


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