nodes_variables_phase_based.h
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29 
30 #ifndef TOWR_VARIABLES_PHASE_NODES_H_
31 #define TOWR_VARIABLES_PHASE_NODES_H_
32 
33 #include "nodes_variables.h"
34 
35 namespace towr {
36 
60 public:
61  using Ptr = std::shared_ptr<NodesVariablesPhaseBased>;
62  using NodeIds = std::vector<int>;
63  using OptIndexMap = std::map<int, std::vector<NodeValueInfo> >;
64 
68  struct PolyInfo {
69  int phase_;
72  bool is_constant_;
73  PolyInfo(int phase, int poly_in_phase, int n_polys_in_phase, bool is_const);
74  };
75 
84  NodesVariablesPhaseBased (int phase_count,
85  bool first_phase_constant,
86  const std::string& var_name,
87  int n_polys_in_changing_phase);
88 
89  virtual ~NodesVariablesPhaseBased() = default;
90 
94  Eigen::Vector3d GetValueAtStartOfPhase(int phase) const;
95 
99  int GetNodeIDAtStartOfPhase(int phase) const;
100 
106  int GetPhase(int node_id) const;
107 
112  virtual bool IsConstantNode(int node_id) const;
113 
121 
128  virtual VecDurations
129  ConvertPhaseToPolyDurations(const VecDurations& phase_durations) const;
130 
139  virtual double
140  GetDerivativeOfPolyDurationWrtPhaseDuration(int polynomial_id) const;
141 
150  virtual int
151  GetNumberOfPrevPolynomialsInPhase(int polynomial_id) const;
152 
157  virtual bool IsInConstantPhase(int polynomial_id) const;
158 
159 protected:
168  std::vector<NodeValueInfo> GetNodeValuesInfo(int idx) const override {
169  return index_to_node_value_info_.at(idx);
170  }
171 
172  void SetNumberOfVariables(int n_variables);
173 
174 private:
176  std::vector<PolyInfo> polynomial_info_;
177 
179  int GetPolyIDAtStartOfPhase(int phase) const;
180 
182  std::vector<int> GetAdjacentPolyIds(int node_id) const;
183 };
184 
185 
192 public:
193  NodesVariablesEEMotion(int phase_count,
194  bool is_in_contact_at_start,
195  const std::string& name,
196  int n_polys_in_changing_phase);
197  virtual ~NodesVariablesEEMotion() = default;
198  OptIndexMap GetPhaseBasedEEParameterization ();
199 };
200 
201 
208 public:
209  NodesVariablesEEForce(int phase_count,
210  bool is_in_contact_at_start,
211  const std::string& name,
212  int n_polys_in_changing_phase);
213  virtual ~NodesVariablesEEForce() = default;
214  OptIndexMap GetPhaseBasedEEParameterization ();
215 };
216 
217 } /* namespace towr */
218 
219 #endif /* TOWR_VARIABLES_PHASE_NODES_H_ */
virtual VecDurations ConvertPhaseToPolyDurations(const VecDurations &phase_durations) const
Converts durations of swing and stance phases to polynomial durations.
int n_polys_in_phase_
the number of polynomials used for this phase.
std::map< int, std::vector< NodeValueInfo > > OptIndexMap
bool is_constant_
Does this polynomial represent a constant phase.
virtual bool IsConstantNode(int node_id) const
node is constant if either left or right polynomial belongs to a constant phase.
Holds semantic information each polynomial in spline.
int phase_
The phase ID this polynomial represents.
virtual ~NodesVariablesPhaseBased()=default
PolyInfo(int phase, int poly_in_phase, int n_polys_in_phase, bool is_const)
Position and velocity of nodes used to generate a Hermite spline.
std::shared_ptr< Component > Ptr
std::vector< PolyInfo > polynomial_info_
semantic information associated with each polynomial
OptIndexMap index_to_node_value_info_
Assign optimization variables to the correct node values.
virtual int GetNumberOfPrevPolynomialsInPhase(int polynomial_id) const
How many polynomials in the current phase come before.
Variables fully defining the endeffector forces.
std::vector< int > GetAdjacentPolyIds(int node_id) const
IDs of the polynomial to the left and right of node_id.
Variables fully defining the endeffector motion.
Eigen::Vector3d GetValueAtStartOfPhase(int phase) const
int poly_in_phase_
is this the 1st, 2nd, ... polynomial or this phase.
virtual double GetDerivativeOfPolyDurationWrtPhaseDuration(int polynomial_id) const
How a change in the phase duration affects the polynomial duration.
int GetPolyIDAtStartOfPhase(int phase) const
ID of the first polynomial of a phase.
std::vector< double > VecDurations
NodesVariablesPhaseBased(int phase_count, bool first_phase_constant, const std::string &var_name, int n_polys_in_changing_phase)
Constructs a variable set of node variables.
Nodes that are associated to either swing or stance phases.
std::vector< NodeValueInfo > GetNodeValuesInfo(int idx) const override
Node values affected by one specific optimization variable.
NodeIds GetIndicesOfNonConstantNodes() const
The indices of those nodes that don&#39;t belong to a constant phase.
virtual bool IsInConstantPhase(int polynomial_id) const
Is the polynomial constant, so not changing the value.


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