Public Member Functions | Private Member Functions | Private Attributes
towr::PhaseSpline Class Reference

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

#include <phase_spline.h>

Inheritance diagram for towr::PhaseSpline:
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List of all members.

Public Member Functions

Jacobian GetJacobianOfPosWrtDurations (double t) const override
 How the spline position changes when the polynomial durations change.
 PhaseSpline (PhaseNodes::Ptr const node_variables, PhaseDurations *const phase_durations)
 Constructs a spline with varying/optimized phase durations.
virtual void UpdatePolynomialDurations () override
 Called by subject to update polynomial durations when they changed.
 ~PhaseSpline ()

Private Member Functions

Eigen::VectorXd GetDerivativeOfPosWrtPhaseDuration (double t) const
 How the position at time t changes with current phase duration.

Private Attributes

PhaseNodes::Ptr phase_nodes_

Detailed Description

A spline built from node values and polynomial durations.

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

Definition at line 47 of file phase_spline.h.


Constructor & Destructor Documentation

towr::PhaseSpline::PhaseSpline ( PhaseNodes::Ptr const  node_variables,
PhaseDurations *const  phase_durations 
)

Constructs a spline with varying/optimized phase durations.

Parameters:
node_variablesThe optimized node variables (pos, vel).
phase_durationsPointer to the changing phase duration variables.

Definition at line 35 of file phase_spline.cc.


Member Function Documentation

Eigen::VectorXd towr::PhaseSpline::GetDerivativeOfPosWrtPhaseDuration ( double  t) const [private]

How the position at time t changes with current phase duration.

Parameters:
tThe global time along the spline.
Returns:
How a duration change affects the x,y,z position.

Definition at line 78 of file phase_spline.cc.

PhaseSpline::Jacobian towr::PhaseSpline::GetJacobianOfPosWrtDurations ( double  t) const [override, 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 from towr::NodeSpline.

Definition at line 68 of file phase_spline.cc.

void towr::PhaseSpline::UpdatePolynomialDurations ( ) [override, virtual]

Called by subject to update polynomial durations when they changed.

Implements towr::PhaseDurationsObserver.

Definition at line 55 of file phase_spline.cc.


Member Data Documentation

PhaseNodes::Ptr towr::PhaseSpline::phase_nodes_ [private]

Definition at line 83 of file phase_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