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_VARIABLES_SPLINE_H_
31 #define TOWR_VARIABLES_SPLINE_H_
32 
33 #include <vector>
34 
35 #include "polynomial.h"
36 
37 namespace towr {
38 
45 class Spline {
46 public:
47  using VecTimes = std::vector<double>;
48  using VecPoly = std::vector<CubicHermitePolynomial>;
49 
50  Spline(const VecTimes& poly_durations, int n_dim);
51  virtual ~Spline () = default;
52 
57  const State GetPoint(double t) const;
58 
64  const State GetPoint(int poly_id, double t_local) const;
65 
71  static int GetSegmentID(double t_global, const VecTimes& durations);
72 
76  double GetTotalTime() const;
77 
81  int GetPolynomialCount() const;
82 
86  VecTimes GetPolyDurations() const;
87 
88 protected:
90 
97  std::pair<int,double> GetLocalTime(double t_global, const VecTimes& d) const;
98 
103  void UpdatePolynomialCoeff();
104 };
105 
106 } /* namespace towr */
107 
108 #endif /* TOWR_VARIABLES_SPLINE_H_ */
std::pair< int, double > GetLocalTime(double t_global, const VecTimes &d) const
How much time of the current segment has passed at t_global.
Definition: spline.cc:69
Stores at state comprised of values and higher-order derivatives.
Definition: state.h:49
A spline built from a sequence of cubic polynomials.
Definition: spline.h:45
std::vector< double > VecTimes
Definition: spline.h:47
VecPoly cubic_polys_
the sequence of polynomials making up the spline.
Definition: spline.h:89
double GetTotalTime() const
Definition: spline.cc:119
void UpdatePolynomialCoeff()
Updates the cubic-Hermite polynomial coefficients using the currently set nodes values and durations...
Definition: spline.cc:96
VecTimes GetPolyDurations() const
Definition: spline.cc:109
static int GetSegmentID(double t_global, const VecTimes &durations)
Definition: spline.cc:49
const State GetPoint(double t) const
Definition: spline.cc:81
std::vector< CubicHermitePolynomial > VecPoly
Definition: spline.h:48
virtual ~Spline()=default
int GetPolynomialCount() const
Definition: spline.cc:103
Spline(const VecTimes &poly_durations, int n_dim)
Definition: spline.cc:36


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