Holds pointers to fully constructed splines, that are linked to the optimization variables. More...

Public Member Functions
	SplineHolder (Nodes::Ptr base_lin, Nodes::Ptr base_ang, const std::vector< double > &base_poly_durations, std::vector< PhaseNodes::Ptr > ee_motion, std::vector< PhaseNodes::Ptr > ee_force, std::vector< PhaseDurations::Ptr > phase_durations, bool ee_durations_change)
	Fully initializes this object. More...

	SplineHolder ()=default

Public Attributes
NodeSpline::Ptr	base_angular_

NodeSpline::Ptr	base_linear_

std::vector< NodeSpline::Ptr >	ee_force_

std::vector< NodeSpline::Ptr >	ee_motion_

std::vector< PhaseDurations::Ptr >	phase_durations_

Detailed Description

Holds pointers to fully constructed splines, that are linked to the optimization variables.

This is independent from whether they are added as optimization variables.

Definition at line 46 of file spline_holder.h.

Constructor & Destructor Documentation

towr::SplineHolder::SplineHolder	(	Nodes::Ptr	base_lin,
		Nodes::Ptr	base_ang,
		const std::vector< double > &	base_poly_durations,
		std::vector< PhaseNodes::Ptr >	ee_motion,
		std::vector< PhaseNodes::Ptr >	ee_force,
		std::vector< PhaseDurations::Ptr >	phase_durations,
		bool	ee_durations_change
	)

Fully initializes this object.

Parameters

base_lin	The nodes describing the base linear motion.
base_ang	The nodes describing the base angular motion.
base_poly_durations	The durations of each base polynomial.
ee_motion	The nodes describing the endeffector motions.
ee_force	The nodes describing the endeffector forces.
phase_durations	The phase durations of each endeffector.
ee_durations_change	True if the ee durations are optimized over.

Definition at line 35 of file spline_holder.cc.

towr::SplineHolder::SplineHolder ( )

default

NodeSpline::Ptr towr::SplineHolder::base_angular_

Definition at line 69 of file spline_holder.h.

NodeSpline::Ptr towr::SplineHolder::base_linear_

Definition at line 68 of file spline_holder.h.

std::vector<NodeSpline::Ptr> towr::SplineHolder::ee_force_

Definition at line 72 of file spline_holder.h.

std::vector<NodeSpline::Ptr> towr::SplineHolder::ee_motion_

Definition at line 71 of file spline_holder.h.

std::vector<PhaseDurations::Ptr> towr::SplineHolder::phase_durations_

Definition at line 73 of file spline_holder.h.

The documentation for this struct was generated from the following files: