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 #ifndef TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_ 00031 #define TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_ 00032 00033 #include "phase_nodes.h" 00034 #include "phase_durations.h" 00035 #include "node_spline.h" 00036 #include "nodes.h" 00037 00038 namespace towr { 00039 00046 struct SplineHolder { 00047 00058 SplineHolder (Nodes::Ptr base_lin, 00059 Nodes::Ptr base_ang, 00060 const std::vector<double>& base_poly_durations, 00061 std::vector<PhaseNodes::Ptr> ee_motion, 00062 std::vector<PhaseNodes::Ptr> ee_force, 00063 std::vector<PhaseDurations::Ptr> phase_durations, 00064 bool ee_durations_change); 00065 00066 SplineHolder () = default; 00067 00068 NodeSpline::Ptr base_linear_; 00069 NodeSpline::Ptr base_angular_; 00070 00071 std::vector<NodeSpline::Ptr> ee_motion_; 00072 std::vector<NodeSpline::Ptr> ee_force_; 00073 std::vector<PhaseDurations::Ptr> phase_durations_; 00074 }; 00075 00076 } /* namespace towr */ 00077 00078 #endif /* TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_ */