spline_acc_constraint.cc
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29 
31 
32 namespace towr {
33 
35  std::string node_variable_name)
36  :ConstraintSet(kSpecifyLater, "SplineAcc-Constraint-" + node_variable_name)
37 {
38  spline_ = spline;
39  node_variables_id_ = node_variable_name;
40 
41  n_dim_ = spline->GetPoint(0.0).p().rows();
42  n_junctions_ = spline->GetPolynomialCount() - 1;
43  T_ = spline->GetPolyDurations();
44 
45  SetRows(n_dim_*n_junctions_);
46 }
47 
50 {
51  VectorXd g(GetRows());
52 
53  for (int j=0; j<n_junctions_; ++j) {
54  int p_prev = j; // id of previous polynomial
55  VectorXd acc_prev = spline_->GetPoint(p_prev, T_.at(p_prev)).a();
56 
57  int p_next = j+1;
58  VectorXd acc_next = spline_->GetPoint(p_next, 0.0).a();
59 
60  g.segment(j*n_dim_, n_dim_) = acc_prev - acc_next;
61  }
62 
63  return g;
64 }
65 
66 void
67 SplineAccConstraint::FillJacobianBlock (std::string var_set, Jacobian& jac) const
68 {
69  if (var_set == node_variables_id_) {
70  for (int j=0; j<n_junctions_; ++j) {
71  int p_prev = j; // id of previous polynomial
72  Jacobian acc_prev = spline_->GetJacobianWrtNodes(p_prev, T_.at(p_prev), kAcc);
73 
74  int p_next = j+1;
75  Jacobian acc_next = spline_->GetJacobianWrtNodes(p_next, 0.0, kAcc);
76 
77  jac.middleRows(j*n_dim_, n_dim_) = acc_prev - acc_next;
78  }
79  }
80 }
81 
82 SplineAccConstraint::VecBound
84 {
85  return VecBound(GetRows(), ifopt::BoundZero);
86 }
87 
88 } /* namespace xpp */
89 
NodeSpline::Ptr spline_
a spline comprised of polynomials
int n_dim_
dimensions that this polynomial represents (e.g. x,y).
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:52
int n_junctions_
polynomial parameterized node values
VectorXd GetValues() const override
std::vector< double > T_
Duration of each polynomial in spline.
Eigen::VectorXd VectorXd
VecBound GetBounds() const override
void FillJacobianBlock(std::string var_set, Jacobian &) const override
SplineAccConstraint(const NodeSpline::Ptr &spline, std::string name)


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