node_spline.h
Go to the documentation of this file.
1 /******************************************************************************
2 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
3 
4 Redistribution and use in source and binary forms, with or without
5 modification, are permitted provided that the following conditions are met:
6 
7 * Redistributions of source code must retain the above copyright notice, this
8  list of conditions and the following disclaimer.
9 
10 * Redistributions in binary form must reproduce the above copyright notice,
11  this list of conditions and the following disclaimer in the documentation
12  and/or other materials provided with the distribution.
13 
14 * Neither the name of the copyright holder nor the names of its
15  contributors may be used to endorse or promote products derived from
16  this software without specific prior written permission.
17 
18 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28 ******************************************************************************/
29 
30 #ifndef TOWR_TOWR_SRC_NODE_SPLINE_H_
31 #define TOWR_TOWR_SRC_NODE_SPLINE_H_
32 
33 #include <memory>
34 #include <Eigen/Sparse>
35 
36 #include "spline.h"
37 #include "nodes_observer.h"
38 
39 namespace towr {
40 
49 class NodeSpline : public Spline, public NodesObserver {
50 public:
51  using Ptr = std::shared_ptr<NodeSpline>;
52  using Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>;
53 
59  NodeSpline(NodeSubjectPtr const node_variables,
60  const VecTimes& polynomial_durations);
61  ~NodeSpline() = default;
62 
66  void UpdateNodes();
67 
76  Jacobian GetJacobianWrtNodes(double t, Dx dxdt) const;
77 
87  Jacobian GetJacobianWrtNodes(int poly_id, double t_local, Dx dxdt) const;
88 
92  int GetNodeVariablesCount() const;
93 
101  virtual Jacobian
102  GetJacobianOfPosWrtDurations(double t) const { assert(false); } // durations are fixed here
103 
104 protected:
109 
118  void FillJacobianWrtNodes (int poly_id, double t_local, Dx dxdt,
119  Jacobian& jac, bool fill_with_zeros) const;
120 };
121 
122 } /* namespace towr */
123 
124 #endif /* TOWR_TOWR_SRC_NODE_SPLINE_H_ */
Base class to receive up-to-date values of the NodeVariables.
~NodeSpline()=default
Jacobian GetJacobianWrtNodes(double t, Dx dxdt) const
How the spline changes when the node values change.
Definition: node_spline.cc:63
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
A spline built from node values and fixed polynomial durations.
Definition: node_spline.h:49
Jacobian jac_wrt_nodes_structure_
Definition: node_spline.h:108
A spline built from a sequence of cubic polynomials.
Definition: spline.h:45
std::vector< double > VecTimes
Definition: spline.h:47
void UpdateNodes()
Called by subject to update the polynomials with new node values.
Definition: node_spline.cc:46
Position and velocity of nodes used to generate a Hermite spline.
virtual Jacobian GetJacobianOfPosWrtDurations(double t) const
How the spline position changes when the polynomial durations change.
Definition: node_spline.h:102
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: node_spline.h:52
NodeSpline(NodeSubjectPtr const node_variables, const VecTimes &polynomial_durations)
Constructs a spline with constant durations.
Definition: node_spline.cc:36
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.
Definition: node_spline.cc:85
int GetNodeVariablesCount() const
Definition: node_spline.cc:57
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16