node_spline.h

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#ifndef TOWR_TOWR_SRC_NODE_SPLINE_H_
#define TOWR_TOWR_SRC_NODE_SPLINE_H_

#include <memory>
#include <Eigen/Sparse>

#include "spline.h"
#include "nodes_observer.h"

namespace towr {

class NodeSpline : public Spline, public NodesObserver {
public:
  using Ptr = std::shared_ptr<NodeSpline>;
  using Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>;

  NodeSpline(NodeSubjectPtr const node_variables,
             const VecTimes& polynomial_durations);
  ~NodeSpline() = default;

  void UpdateNodes();

  Jacobian GetJacobianWrtNodes(double t, Dx dxdt) const;

  Jacobian GetJacobianWrtNodes(int poly_id, double t_local, Dx dxdt) const;

  int GetNodeVariablesCount() const;

  virtual Jacobian
  GetJacobianOfPosWrtDurations(double t) const { assert(false); } // durations are fixed here

protected:
  mutable Jacobian jac_wrt_nodes_structure_;

  void FillJacobianWrtNodes (int poly_id, double t_local, Dx dxdt,
                             Jacobian& jac, bool fill_with_zeros) const;
};

} /* namespace towr */

#endif /* TOWR_TOWR_SRC_NODE_SPLINE_H_ */