Node variables used to construct the base motion spline. More...

#include <nodes_variables_all.h>

Inheritance diagram for towr::NodesVariablesAll:

Public Member Functions
std::vector< NodeValueInfo >	GetNodeValuesInfo (int idx) const override
	Node values affected by one specific optimization variable. More...

	NodesVariablesAll (int n_nodes, int n_dim, std::string variable_id)

virtual	~NodesVariablesAll ()=default

Public Member Functions inherited from towr::NodesVariables
void	AddFinalBound (Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
	Restricts the last node in the spline. More...

void	AddObserver (ObserverPtr const spline)
	Adds a dependent observer that gets notified when the nodes change. More...

void	AddStartBound (Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
	Restricts the first node in the spline. More...

const std::vector< Node >	GetBoundaryNodes (int poly_id) const

VecBound	GetBounds () const override

int	GetDim () const

const std::vector< Node >	GetNodes () const

int	GetOptIndex (const NodeValueInfo &nvi) const
	Index in the optimization vector for a specific nodes' pos/vel. More...

int	GetPolynomialCount () const

VectorXd	GetValues () const override
	Pure optimization variables that define the nodes. More...

void	SetByLinearInterpolation (const VectorXd &initial_val, const VectorXd &final_val, double t_total)
	Sets nodes pos/vel equally spaced from initial to final position. More...

void	SetVariables (const VectorXd &x) override
	Sets some node positions and velocity from the optimization variables. More...

Public Member Functions inherited from ifopt::VariableSet
Jacobian	GetJacobian () const final

	VariableSet (int n_var, const std::string &name)

virtual	~VariableSet ()=default

Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)

std::string	GetName () const

int	GetRows () const

virtual void	Print (double tolerance, int &index_start) const

void	SetRows (int num_rows)

virtual	~Component ()=default

Additional Inherited Members
Public Types inherited from towr::NodesVariables
using	ObserverPtr = NodesObserver *

using	Ptr = std::shared_ptr< NodesVariables >

enum	Side { Start =0, End }

using	VecDurations = std::vector< double >

Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor >	Jacobian

typedef std::shared_ptr< Component >	Ptr

typedef std::vector< Bounds >	VecBound

typedef Eigen::VectorXd	VectorXd

Static Public Member Functions inherited from towr::NodesVariables
static int	GetNodeId (int poly_id, Side side)
	The node ID that belongs to a specific side of a specific polynomial. More...

Static Public Attributes inherited from towr::NodesVariables
static const int	NodeValueNotOptimized = -1

Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater

Protected Member Functions inherited from towr::NodesVariables
	NodesVariables (const std::string &variable_name)

virtual	~NodesVariables ()=default

Protected Attributes inherited from towr::NodesVariables
VecBound	bounds_
	the bounds on the node values. More...

int	n_dim_

std::vector< Node >	nodes_

Detailed Description

Node variables used to construct the base motion spline.

Every node is optimized over, in contrast to PhaseNodes, where multiple nodes in the spline are represented by the same optimization variables.

Definition at line 45 of file nodes_variables_all.h.

Constructor & Destructor Documentation

◆ NodesVariablesAll()

towr::NodesVariablesAll::NodesVariablesAll	(	int	n_nodes,
		int	n_dim,
		std::string	variable_id
	)

Parameters

n_nodes	Number of nodes to construct the spline.
n_dim	Number of dimensions of each node.
variable_id	Name of this variables set in the optimization.

Definition at line 34 of file nodes_variables_all.cc.

◆ ~NodesVariablesAll()

virtual towr::NodesVariablesAll::~NodesVariablesAll ( )

virtualdefault

Member Function Documentation

◆ GetNodeValuesInfo()

std::vector< NodesVariablesAll::NodeValueInfo > towr::NodesVariablesAll::GetNodeValuesInfo ( int opt_idx ) const

overridevirtual

Node values affected by one specific optimization variable.

Parameters

opt_idx The index (=row) of the optimization variable.

Returns: All node values affected by this optimization variable.

This function determines which node values are optimized over, and which nodes values are set by the same optimization variable.

Reverse of GetOptIndex().

Implements towr::NodesVariables.

Definition at line 46 of file nodes_variables_all.cc.

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