base_nodes.cc
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29 
32 
33 namespace towr {
34 
35 BaseNodes::BaseNodes (int n_nodes, std::string name) : Nodes(k3D, name)
36 {
37  int n_derivs = 2; // position and velocity
38  int n_variables = n_nodes*n_derivs*k3D;
39  InitMembers(n_nodes, n_variables);
40 }
41 
42 std::vector<BaseNodes::IndexInfo>
44 {
45  std::vector<IndexInfo> nodes;
46 
47  int n_opt_values_per_node_ = 2*GetDim();
48  int internal_id = idx%n_opt_values_per_node_; // 0...6 (p.x, p.y, p.z, v.x, v.y. v.z)
49 
50  IndexInfo node;
51  node.node_deriv_ = internal_id<GetDim()? kPos : kVel;
52  node.node_dim_ = internal_id%GetDim();
53  node.node_id_ = std::floor(idx/n_opt_values_per_node_);
54 
55  nodes.push_back(node);
56 
57  return nodes;
58 }
59 
60 } /* namespace towr */
virtual std::vector< IndexInfo > GetNodeInfoAtOptIndex(int idx) const override
The node information that the optimization index represents.
Definition: base_nodes.cc:43
int node_dim_
the dimension (x,y,z) of that optimization index.
Definition: nodes.h:64
Position and velocity of nodes used to generate a Hermite spline.
Definition: nodes.h:52
int GetDim() const
Definition: nodes.cc:162
void InitMembers(int n_nodes, int n_variables)
initializes the member variables.
Definition: nodes.cc:43
BaseNodes(int n_nodes, std::string variable_id)
Definition: base_nodes.cc:35
static constexpr int k3D
Dx node_deriv_
The derivative (pos,vel) of that optimziation index.
Definition: nodes.h:63
Holds information about the node the optimization index represents.
Definition: nodes.h:61
int node_id_
The ID of the node of the optimization index.
Definition: nodes.h:62


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 8 2018 02:18:53