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

#include <phase_spline.h>

Inheritance diagram for towr::PhaseSpline:

[legend]

Public Types
using	Ptr = std::shared_ptr< PhaseSpline >

using	VectorXd = Eigen::VectorXd

Public Types inherited from towr::NodeSpline
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 Types inherited from towr::PhaseDurationsObserver
using	PhaseDurationsSubjectPtr = PhaseDurations *

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

	PhaseSpline (NodesVariablesPhaseBased::Ptr const node_variables, PhaseDurations *const phase_durations)
	Constructs a spline with varying/optimized phase durations. More...

void	UpdatePolynomialDurations () override
	Called by subject to update polynomial durations when they changed. More...

	~PhaseSpline ()=default

Public Member Functions inherited from towr::NodeSpline
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

Public Member Functions inherited from towr::PhaseDurationsObserver
	PhaseDurationsObserver ()=default

	PhaseDurationsObserver (PhaseDurationsSubjectPtr phase_durations)
	Registers this observer with the subject class to receive updates. More...

virtual	~PhaseDurationsObserver ()=default

Private Member Functions
Eigen::VectorXd	GetDerivativeOfPosWrtPhaseDuration (double t) const
	How the position at time t changes with current phase duration. More...

Private Attributes
NodesVariablesPhaseBased::Ptr	phase_nodes_

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

Protected Member Functions inherited from towr::NodeSpline
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 inherited from towr::NodeSpline
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_

Protected Attributes inherited from towr::PhaseDurationsObserver
PhaseDurationsSubjectPtr	phase_durations_

Detailed Description

A spline built from node values and polynomial durations.

This class is responsible for combining the optimized node values with the optimized phase durations to construct a sequence of CubicHermitePolynomial. For this it observers whether one of the quantities changed and then updates all the polynomials accordingly.

Definition at line 47 of file phase_spline.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 49 of file phase_spline.h.

◆ VectorXd

using towr::PhaseSpline::VectorXd = Eigen::VectorXd

Definition at line 50 of file phase_spline.h.

Constructor & Destructor Documentation

◆ PhaseSpline()

towr::PhaseSpline::PhaseSpline	(	NodesVariablesPhaseBased::Ptr const	node_variables,
		PhaseDurations *const	phase_durations
	)

Constructs a spline with varying/optimized phase durations.

Parameters

node_variables	The optimized node variables (pos, vel).
phase_durations	Pointer to the changing phase duration variables.

Definition at line 35 of file phase_spline.cc.

◆ ~PhaseSpline()

towr::PhaseSpline::~PhaseSpline ( )

default

Member Function Documentation

◆ GetDerivativeOfPosWrtPhaseDuration()

Eigen::VectorXd towr::PhaseSpline::GetDerivativeOfPosWrtPhaseDuration ( double t ) const

private

How the position at time t changes with current phase duration.

Parameters

t	The global time along the spline.

Returns: How a duration change affects the x,y,z position.

Definition at line 78 of file phase_spline.cc.

◆ GetJacobianOfPosWrtDurations()

PhaseSpline::Jacobian towr::PhaseSpline::GetJacobianOfPosWrtDurations ( double t ) const

overridevirtual

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 from towr::NodeSpline.

Definition at line 68 of file phase_spline.cc.

◆ UpdatePolynomialDurations()

void towr::PhaseSpline::UpdatePolynomialDurations ( )

overridevirtual

Called by subject to update polynomial durations when they changed.

Implements towr::PhaseDurationsObserver.

Definition at line 55 of file phase_spline.cc.

Member Data Documentation

◆ phase_nodes_

NodesVariablesPhaseBased::Ptr towr::PhaseSpline::phase_nodes_

private

Definition at line 83 of file phase_spline.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ VectorXd

Constructor & Destructor Documentation

◆ PhaseSpline()

◆ ~PhaseSpline()

Member Function Documentation

◆ GetDerivativeOfPosWrtPhaseDuration()

◆ GetJacobianOfPosWrtDurations()

◆ UpdatePolynomialDurations()

Member Data Documentation

◆ phase_nodes_