phase_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_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_
31 #define TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_
32 
33 #include "node_spline.h"
36 
37 namespace towr {
38 
48 public:
49  using Ptr = std::shared_ptr<PhaseSpline>;
51 
57  PhaseSpline(NodesVariablesPhaseBased::Ptr const node_variables,
58  PhaseDurations* const phase_durations);
59  ~PhaseSpline() = default;
60 
64  void UpdatePolynomialDurations() override;
65 
73  Jacobian GetJacobianOfPosWrtDurations(double t) const override;
74 
75 private:
82 
83  NodesVariablesPhaseBased::Ptr phase_nodes_; // retain pointer for extended functionality
84 };
85 
86 } /* namespace towr */
87 
88 #endif /* TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_ */
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
Base class to receive up-to-date values of the ContactSchedule.
A spline built from node values and fixed polynomial durations.
Definition: node_spline.h:49
Eigen::VectorXd VectorXd
void UpdatePolynomialDurations() override
Called by subject to update polynomial durations when they changed.
Definition: phase_spline.cc:55
std::shared_ptr< NodesVariablesPhaseBased > Ptr
A variable set composed of the phase durations of an endeffector.
NodesVariablesPhaseBased::Ptr phase_nodes_
Definition: phase_spline.h:83
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: node_spline.h:52
Eigen::VectorXd VectorXd
Definition: phase_spline.h:50
Eigen::VectorXd GetDerivativeOfPosWrtPhaseDuration(double t) const
How the position at time t changes with current phase duration.
Definition: phase_spline.cc:78
Jacobian GetJacobianOfPosWrtDurations(double t) const override
How the spline position changes when the polynomial durations change.
Definition: phase_spline.cc:68
~PhaseSpline()=default
A spline built from node values and polynomial durations.
Definition: phase_spline.h:47
PhaseSpline(NodesVariablesPhaseBased::Ptr const node_variables, PhaseDurations *const phase_durations)
Constructs a spline with varying/optimized phase durations.
Definition: phase_spline.cc:35


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