spline_holder.cc
Go to the documentation of this file.
00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without
00005 modification, are permitted provided that the following conditions are met:
00006 
00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
00009 
00010 * Redistributions in binary form must reproduce the above copyright notice,
00011   this list of conditions and the following disclaimer in the documentation
00012   and/or other materials provided with the distribution.
00013 
00014 * Neither the name of the copyright holder nor the names of its
00015   contributors may be used to endorse or promote products derived from
00016   this software without specific prior written permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00025 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00026 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00027 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 ******************************************************************************/
00029 
00030 #include <towr/variables/spline_holder.h>
00031 #include <towr/variables/phase_spline.h>
00032 
00033 namespace towr{
00034 
00035 SplineHolder::SplineHolder (Nodes::Ptr base_lin_nodes,
00036                             Nodes::Ptr base_ang_nodes,
00037                             const std::vector<double>& base_poly_durations,
00038                             std::vector<PhaseNodes::Ptr> ee_motion_nodes,
00039                             std::vector<PhaseNodes::Ptr> ee_force_nodes,
00040                             std::vector<PhaseDurations::Ptr> phase_durations,
00041                             bool durations_change)
00042 {
00043   base_linear_  = std::make_shared<NodeSpline>(base_lin_nodes.get(), base_poly_durations);
00044   base_angular_ = std::make_shared<NodeSpline>(base_ang_nodes.get(), base_poly_durations);
00045   phase_durations_ = phase_durations;
00046 
00047   for (uint ee=0; ee<ee_motion_nodes.size(); ++ee) {
00048 
00049     if (durations_change) {
00050       // spline that changes the polynomial durations (affects Jacobian)
00051       ee_motion_.push_back(std::make_shared<PhaseSpline>(ee_motion_nodes.at(ee), phase_durations.at(ee).get()));
00052       ee_force_.push_back(std::make_shared<PhaseSpline>(ee_force_nodes.at(ee), phase_durations.at(ee).get()));
00053     } else {
00054       // spline without changing the polynomial durations
00055       auto ee_motion_poly_durations = ee_motion_nodes.at(ee)->ConvertPhaseToPolyDurations(phase_durations.at(ee)->GetPhaseDurations());
00056       auto ee_force_poly_durations = ee_force_nodes.at(ee)->ConvertPhaseToPolyDurations(phase_durations.at(ee)->GetPhaseDurations());
00057 
00058       ee_motion_.push_back(std::make_shared<NodeSpline>(ee_motion_nodes.at(ee).get(), ee_motion_poly_durations));
00059       ee_force_.push_back (std::make_shared<NodeSpline>(ee_force_nodes.at(ee).get(), ee_force_poly_durations));
00060     }
00061   }
00062 }
00063 
00064 } /* namespace towr */


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