spline_holder.h

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#ifndef TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_
#define TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_

#include "phase_durations.h"
#include "node_spline.h"
#include "nodes_variables.h"
#include "nodes_variables_phase_based.h"

namespace towr {

struct SplineHolder {
  SplineHolder (NodesVariables::Ptr base_lin,
                NodesVariables::Ptr base_ang,
                const std::vector<double>& base_poly_durations,
                std::vector<NodesVariablesPhaseBased::Ptr> ee_motion,
                std::vector<NodesVariablesPhaseBased::Ptr> ee_force,
                std::vector<PhaseDurations::Ptr> phase_durations,
                bool ee_durations_change);

  SplineHolder () = default;

  NodeSpline::Ptr base_linear_;
  NodeSpline::Ptr base_angular_;

  std::vector<NodeSpline::Ptr> ee_motion_;
  std::vector<NodeSpline::Ptr> ee_force_;
  std::vector<PhaseDurations::Ptr> phase_durations_;
};

} /* namespace towr */

#endif /* TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_ */