node_spline.h
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29 
30 #ifndef TOWR_TOWR_SRC_NODE_SPLINE_H_
31 #define TOWR_TOWR_SRC_NODE_SPLINE_H_
32 
33 #include <memory>
34 #include <Eigen/Sparse>
35 
36 #include "spline.h"
37 #include "nodes_observer.h"
38 
39 namespace towr {
40 
41 
50 class NodeSpline : public Spline, public NodesObserver {
51 public:
52  using Ptr = std::shared_ptr<NodeSpline>;
53  using Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>;
54 
60  NodeSpline(NodeSubjectPtr const node_variables,
61  const VecTimes& polynomial_durations);
62  ~NodeSpline() = default;
63 
67  void UpdateNodes();
68 
77  Jacobian GetJacobianWrtNodes(double t, Dx dxdt) const;
78 
88  Jacobian GetJacobianWrtNodes(int poly_id, double t_local, Dx dxdt) const;
89 
93  int GetNodeVariablesCount() const;
94 
102  virtual Jacobian
103  GetJacobianOfPosWrtDurations(double t) const { assert(false); } // durations are fixed here
104 
105 protected:
106 
111 
120  void FillJacobianWrtNodes (int poly_id, double t_local, Dx dxdt,
121  Jacobian& jac, bool fill_with_zeros) const;
122 
123 };
124 
125 } /* namespace towr */
126 
127 #endif /* TOWR_TOWR_SRC_NODE_SPLINE_H_ */
Base class to receive up-to-date values of the NodeVariables.
~NodeSpline()=default
Jacobian GetJacobianWrtNodes(double t, Dx dxdt) const
How the spline changes when the node values change.
Definition: node_spline.cc:64
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:52
A spline built from node values and fixed polynomial durations.
Definition: node_spline.h:50
Jacobian jac_wrt_nodes_structure_
Definition: node_spline.h:110
A spline built from a sequence of cubic polynomials.
Definition: spline.h:45
std::vector< double > VecTimes
Definition: spline.h:47
void UpdateNodes()
Called by subject to update the polynomials with new node values.
Definition: node_spline.cc:47
virtual Jacobian GetJacobianOfPosWrtDurations(double t) const
How the spline position changes when the polynomial durations change.
Definition: node_spline.h:103
Position and velocity of nodes used to generate a Hermite spline.
Definition: nodes.h:52
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: node_spline.h:53
NodeSpline(NodeSubjectPtr const node_variables, const VecTimes &polynomial_durations)
Constructs a spline with constant durations.
Definition: node_spline.cc:36
void FillJacobianWrtNodes(int poly_id, double t_local, Dx dxdt, Jacobian &jac, bool fill_with_zeros) const
Fills specific elements of the Jacobian with respect to nodes.
Definition: node_spline.cc:86
int GetNodeVariablesCount() const
Definition: node_spline.cc:58
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:57