A spline built from node values and fixed polynomial durations. More...

#include <node_spline.h>

Inheritance diagram for towr::NodeSpline:

Public Types
using	Jacobian = Eigen::SparseMatrix< double, Eigen::RowMajor >

using	Ptr = std::shared_ptr< NodeSpline >

Public Types inherited from towr::Spline
using	VecPoly = std::vector< CubicHermitePolynomial >

using	VecTimes = std::vector< double >

Public Types inherited from towr::NodesObserver
using	NodeSubjectPtr = NodesVariables *

Public Member Functions
virtual Jacobian	GetJacobianOfPosWrtDurations (double t) const
	How the spline position changes when the polynomial durations change. More...

Jacobian	GetJacobianWrtNodes (double t, Dx dxdt) const
	How the spline changes when the node values change. More...

Jacobian	GetJacobianWrtNodes (int poly_id, double t_local, Dx dxdt) const
	How the spline changes when the node values change. More...

int	GetNodeVariablesCount () const

	NodeSpline (NodeSubjectPtr const node_variables, const VecTimes &polynomial_durations)
	Constructs a spline with constant durations. More...

void	UpdateNodes ()
	Called by subject to update the polynomials with new node values. More...

	~NodeSpline ()=default

Public Member Functions inherited from towr::Spline
const State	GetPoint (double t) const

const State	GetPoint (int poly_id, double t_local) const

VecTimes	GetPolyDurations () const

int	GetPolynomialCount () const

double	GetTotalTime () const

	Spline (const VecTimes &poly_durations, int n_dim)

virtual	~Spline ()=default

Public Member Functions inherited from towr::NodesObserver
	NodesObserver (NodeSubjectPtr node_values)
	Registers this observer with the subject class to receive updates. More...

virtual	~NodesObserver ()=default

Protected Member Functions
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. More...

Protected Member Functions inherited from towr::Spline
std::pair< int, double >	GetLocalTime (double t_global, const VecTimes &d) const
	How much time of the current segment has passed at t_global. More...

void	UpdatePolynomialCoeff ()
	Updates the cubic-Hermite polynomial coefficients using the currently set nodes values and durations. More...

Protected Attributes
Jacobian	jac_wrt_nodes_structure_

Protected Attributes inherited from towr::Spline
VecPoly	cubic_polys_
	the sequence of polynomials making up the spline. More...

Protected Attributes inherited from towr::NodesObserver
NodeSubjectPtr	node_values_

Additional Inherited Members
Static Public Member Functions inherited from towr::Spline
static int	GetSegmentID (double t_global, const VecTimes &durations)

Detailed Description

A spline built from node values and fixed polynomial durations.

This class is responsible for combining the optimized node values with fixed polynomial durations to construct a sequence of CubicHermitePolynomial. For this it observes whether the node values change and then updates all the polynomials accordingly.

Definition at line 49 of file node_spline.h.

Member Typedef Documentation

◆ Jacobian

using towr::NodeSpline::Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>

Definition at line 52 of file node_spline.h.

◆ Ptr

using towr::NodeSpline::Ptr = std::shared_ptr<NodeSpline>

Definition at line 51 of file node_spline.h.

Constructor & Destructor Documentation

◆ NodeSpline()

towr::NodeSpline::NodeSpline	(	NodeSubjectPtr const	node_variables,
		const VecTimes &	polynomial_durations
	)

Constructs a spline with constant durations.

Parameters

nodes_variables	The optimized node variables (pos, vel).
phase_durations	The fixed duration of each phase.

Definition at line 36 of file node_spline.cc.

◆ ~NodeSpline()

towr::NodeSpline::~NodeSpline ( )

default

Member Function Documentation

◆ FillJacobianWrtNodes()

void towr::NodeSpline::FillJacobianWrtNodes	(	int	poly_id,
		double	t_local,
		Dx	dxdt,
		Jacobian &	jac,
		bool	fill_with_zeros
	)		const

protected

Fills specific elements of the Jacobian with respect to nodes.

Parameters

poly_id	The ID of the polynomial for which to get the sensitivity.
t_local	The time passed in the polynomial with poly_id.
dxdt	Whether the function is position, velocity or acceleration.
jac[in/out]	The correctly sized Jacobian to fill.
fill_with_zeros	True if only sparsity pattern should be set.

Definition at line 85 of file node_spline.cc.

◆ GetJacobianOfPosWrtDurations()

virtual Jacobian towr::NodeSpline::GetJacobianOfPosWrtDurations ( double t ) const

inlinevirtual

How the spline position changes when the polynomial durations change.

Parameters

t	The time along the spline at which the sensitivity is required.

Returns: the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized durations.

Reimplemented in towr::PhaseSpline.

Definition at line 102 of file node_spline.h.

◆ GetJacobianWrtNodes() [1/2]

NodeSpline::Jacobian towr::NodeSpline::GetJacobianWrtNodes	(	double	t,
		Dx	dxdt
	)		const

How the spline changes when the node values change.

Parameters

t	The time along the spline at which the sensitivity is required.
dxdt	Whether the derivative of the pos, vel or acc is desired.

Returns: the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized node variables.

Definition at line 63 of file node_spline.cc.

◆ GetJacobianWrtNodes() [2/2]

NodeSpline::Jacobian towr::NodeSpline::GetJacobianWrtNodes	(	int	poly_id,
		double	t_local,
		Dx	dxdt
	)		const

How the spline changes when the node values change.

Parameters

poly_id	Polynomial for which the sensitivity is desired.
t_local	Local time in that specific polynomial.
dxdt	Whether the derivative of the pos, vel or acc is desired.

Returns: the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized node variables.

Definition at line 72 of file node_spline.cc.

◆ GetNodeVariablesCount()

int towr::NodeSpline::GetNodeVariablesCount ( ) const

Returns: The number of node variables being optimized over.

Definition at line 57 of file node_spline.cc.

◆ UpdateNodes()

void towr::NodeSpline::UpdateNodes ( )

virtual

Called by subject to update the polynomials with new node values.

Implements towr::NodesObserver.

Definition at line 46 of file node_spline.cc.

Member Data Documentation

◆ jac_wrt_nodes_structure_

Jacobian towr::NodeSpline::jac_wrt_nodes_structure_

mutableprotected

The size and non-zero elements of the Jacobian of the position w.r.t nodes.

Definition at line 108 of file node_spline.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Jacobian

◆ Ptr

Constructor & Destructor Documentation

◆ NodeSpline()

◆ ~NodeSpline()

Member Function Documentation

◆ FillJacobianWrtNodes()

◆ GetJacobianOfPosWrtDurations()

◆ GetJacobianWrtNodes() [1/2]

◆ GetJacobianWrtNodes() [2/2]

◆ GetNodeVariablesCount()

◆ UpdateNodes()

Member Data Documentation

◆ jac_wrt_nodes_structure_