base_motion_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
32 
34 #include <towr/variables/spline.h>
35 
37 
38 namespace towr {
39 
49 public:
56  BaseMotionConstraint (double T, double dt, const SplineHolder& spline_holder);
57  virtual ~BaseMotionConstraint () = default;
58 
59  void UpdateConstraintAtInstance (double t, int k, VectorXd& g) const override;
60  void UpdateBoundsAtInstance (double t, int k, VecBound&) const override;
61  void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
62 
63 private:
66 
68  int GetRow (int node, int dim) const;
69 };
70 
71 } /* namespace towr */
72 
73 #endif /* TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_ */
VecBound node_bounds_
same bounds for each discretized node
virtual ~BaseMotionConstraint()=default
Constraints evaluated at discretized times along a trajectory.
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
BaseMotionConstraint(double T, double dt, const SplineHolder &spline_holder)
Links the base variables and sets hardcoded bounds on the state.
void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian &) const override
Sets Jacobian rows at a specific time t, corresponding to node k.
Builds splines from node values (pos/vel) and durations.
Definition: spline_holder.h:47
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
void UpdateConstraintAtInstance(double t, int k, VectorXd &g) const override
Sets the constraint value a specific time t, corresponding to node k.
int GetRow(int node, int dim) const
void UpdateBoundsAtInstance(double t, int k, VecBound &) const override
Sets upper/lower bound a specific time t, corresponding to node k.
std::vector< Bounds > VecBound
Keeps the 6D base motion in a specified range.
Eigen::VectorXd VectorXd


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22