base_motion_constraint.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_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
32 
34 #include <towr/variables/spline.h>
35 
37 
38 namespace towr {
39 
49 public:
56  BaseMotionConstraint (double T, double dt, const SplineHolder& spline_holder);
57  virtual ~BaseMotionConstraint () = default;
58 
59  void UpdateConstraintAtInstance (double t, int k, VectorXd& g) const override;
60  void UpdateBoundsAtInstance (double t, int k, VecBound&) const override;
61  void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
62 
63 private:
66 
68  int GetRow (int node, int dim) const;
69 };
70 
71 } /* namespace towr */
72 
73 #endif /* TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_ */
VecBound node_bounds_
same bounds for each discretized node
virtual ~BaseMotionConstraint()=default
Constraints evaluated at discretized times along a trajectory.
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
BaseMotionConstraint(double T, double dt, const SplineHolder &spline_holder)
Links the base variables and sets hardcoded bounds on the state.
void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian &) const override
Sets Jacobian rows at a specific time t, corresponding to node k.
Builds splines from node values (pos/vel) and durations.
Definition: spline_holder.h:47
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
void UpdateConstraintAtInstance(double t, int k, VectorXd &g) const override
Sets the constraint value a specific time t, corresponding to node k.
void UpdateBoundsAtInstance(double t, int k, VecBound &) const override
Sets upper/lower bound a specific time t, corresponding to node k.
std::vector< Bounds > VecBound
Keeps the 6D base motion in a specified range.
int GetRow(int node, int dim) const
Eigen::VectorXd VectorXd


towr
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:00