spline_holder.cc

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#include <towr/variables/spline_holder.h>
#include <towr/variables/phase_spline.h>

namespace towr{

SplineHolder::SplineHolder (NodesVariables::Ptr base_lin_nodes,
                            NodesVariables::Ptr base_ang_nodes,
                            const std::vector<double>& base_poly_durations,
                            std::vector<NodesVariablesPhaseBased::Ptr> ee_motion_nodes,
                            std::vector<NodesVariablesPhaseBased::Ptr> ee_force_nodes,
                            std::vector<PhaseDurations::Ptr> phase_durations,
                            bool durations_change)
{
  base_linear_  = std::make_shared<NodeSpline>(base_lin_nodes.get(), base_poly_durations);
  base_angular_ = std::make_shared<NodeSpline>(base_ang_nodes.get(), base_poly_durations);
  phase_durations_ = phase_durations;

  for (uint ee=0; ee<ee_motion_nodes.size(); ++ee) {
    if (durations_change) {
      // spline that changes the polynomial durations (affects Jacobian)
      ee_motion_.push_back(std::make_shared<PhaseSpline>(ee_motion_nodes.at(ee), phase_durations.at(ee).get()));
      ee_force_.push_back(std::make_shared<PhaseSpline>(ee_force_nodes.at(ee), phase_durations.at(ee).get()));
    } else {
      // spline without changing the polynomial durations
      auto ee_motion_poly_durations = ee_motion_nodes.at(ee)->ConvertPhaseToPolyDurations(phase_durations.at(ee)->GetPhaseDurations());
      auto ee_force_poly_durations = ee_force_nodes.at(ee)->ConvertPhaseToPolyDurations(phase_durations.at(ee)->GetPhaseDurations());

      ee_motion_.push_back(std::make_shared<NodeSpline>(ee_motion_nodes.at(ee).get(), ee_motion_poly_durations));
      ee_force_.push_back (std::make_shared<NodeSpline>(ee_force_nodes.at(ee).get(), ee_force_poly_durations));
    }
  }
}

} /* namespace towr */