Holds pointers to fully constructed splines, that are linked to the optimization variables. More...
#include <spline_holder.h>
Public Member Functions | |
| SplineHolder (Nodes::Ptr base_lin, Nodes::Ptr base_ang, const std::vector< double > &base_poly_durations, std::vector< PhaseNodes::Ptr > ee_motion, std::vector< PhaseNodes::Ptr > ee_force, std::vector< PhaseDurations::Ptr > phase_durations, bool ee_durations_change) | |
| Fully initializes this object. | |
| SplineHolder () | |
Public Attributes | |
| NodeSpline::Ptr | base_angular_ |
| NodeSpline::Ptr | base_linear_ |
| std::vector< NodeSpline::Ptr > | ee_force_ |
| std::vector< NodeSpline::Ptr > | ee_motion_ |
| std::vector< PhaseDurations::Ptr > | phase_durations_ |
Holds pointers to fully constructed splines, that are linked to the optimization variables.
This is independent from whether they are added as optimization variables.
Definition at line 46 of file spline_holder.h.
| towr::SplineHolder::SplineHolder | ( | Nodes::Ptr | base_lin, |
| Nodes::Ptr | base_ang, | ||
| const std::vector< double > & | base_poly_durations, | ||
| std::vector< PhaseNodes::Ptr > | ee_motion, | ||
| std::vector< PhaseNodes::Ptr > | ee_force, | ||
| std::vector< PhaseDurations::Ptr > | phase_durations, | ||
| bool | ee_durations_change | ||
| ) |
Fully initializes this object.
| base_lin | The nodes describing the base linear motion. |
| base_ang | The nodes describing the base angular motion. |
| base_poly_durations | The durations of each base polynomial. |
| ee_motion | The nodes describing the endeffector motions. |
| ee_force | The nodes describing the endeffector forces. |
| phase_durations | The phase durations of each endeffector. |
| ee_durations_change | True if the ee durations are optimized over. |
Definition at line 35 of file spline_holder.cc.
| NodeSpline::Ptr towr::SplineHolder::base_angular_ |
Definition at line 69 of file spline_holder.h.
| NodeSpline::Ptr towr::SplineHolder::base_linear_ |
Definition at line 68 of file spline_holder.h.
| std::vector<NodeSpline::Ptr> towr::SplineHolder::ee_force_ |
Definition at line 72 of file spline_holder.h.
| std::vector<NodeSpline::Ptr> towr::SplineHolder::ee_motion_ |
Definition at line 71 of file spline_holder.h.
| std::vector<PhaseDurations::Ptr> towr::SplineHolder::phase_durations_ |
Definition at line 73 of file spline_holder.h.