base_nodes.cc

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#include <towr/variables/base_nodes.h>
#include <towr/variables/cartesian_dimensions.h>

namespace towr {

BaseNodes::BaseNodes (int n_nodes, std::string name) : Nodes(k3D, name)
{
  int n_derivs = 2; // position and velocity
  int n_variables = n_nodes*n_derivs*k3D;
  InitMembers(n_nodes, n_variables);
}

std::vector<BaseNodes::IndexInfo>
BaseNodes::GetNodeInfoAtOptIndex (int idx) const
{
  std::vector<IndexInfo> nodes;

  int n_opt_values_per_node_ = 2*GetDim();
  int internal_id = idx%n_opt_values_per_node_; // 0...6 (p.x, p.y, p.z, v.x, v.y. v.z)

  IndexInfo node;
  node.node_deriv_ = internal_id<GetDim()? kPos : kVel;
  node.node_dim_   = internal_id%GetDim();
  node.node_id_    = std::floor(idx/n_opt_values_per_node_);

  nodes.push_back(node);

  return nodes;
}

} /* namespace towr */