node_spline.h
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29 
30 #ifndef TOWR_TOWR_SRC_NODE_SPLINE_H_
31 #define TOWR_TOWR_SRC_NODE_SPLINE_H_
32 
33 #include <memory>
34 #include <Eigen/Sparse>
35 
36 #include "spline.h"
37 #include "nodes_observer.h"
38 
39 namespace towr {
40 
49 class NodeSpline : public Spline, public NodesObserver {
50 public:
51  using Ptr = std::shared_ptr<NodeSpline>;
52  using Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>;
53 
59  NodeSpline(NodeSubjectPtr const node_variables,
60  const VecTimes& polynomial_durations);
61  ~NodeSpline() = default;
62 
66  void UpdateNodes();
67 
76  Jacobian GetJacobianWrtNodes(double t, Dx dxdt) const;
77 
87  Jacobian GetJacobianWrtNodes(int poly_id, double t_local, Dx dxdt) const;
88 
92  int GetNodeVariablesCount() const;
93 
101  virtual Jacobian
102  GetJacobianOfPosWrtDurations(double t) const { assert(false); } // durations are fixed here
103 
104 protected:
109 
118  void FillJacobianWrtNodes (int poly_id, double t_local, Dx dxdt,
119  Jacobian& jac, bool fill_with_zeros) const;
120 };
121 
122 } /* namespace towr */
123 
124 #endif /* TOWR_TOWR_SRC_NODE_SPLINE_H_ */
Base class to receive up-to-date values of the NodeVariables.
~NodeSpline()=default
int GetNodeVariablesCount() const
Definition: node_spline.cc:57
virtual Jacobian GetJacobianOfPosWrtDurations(double t) const
How the spline position changes when the polynomial durations change.
Definition: node_spline.h:102
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
A spline built from node values and fixed polynomial durations.
Definition: node_spline.h:49
Jacobian jac_wrt_nodes_structure_
Definition: node_spline.h:108
A spline built from a sequence of cubic polynomials.
Definition: spline.h:45
std::vector< double > VecTimes
Definition: spline.h:47
void UpdateNodes()
Called by subject to update the polynomials with new node values.
Definition: node_spline.cc:46
Jacobian GetJacobianWrtNodes(double t, Dx dxdt) const
How the spline changes when the node values change.
Definition: node_spline.cc:63
Position and velocity of nodes used to generate a Hermite spline.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: node_spline.h:52
NodeSpline(NodeSubjectPtr const node_variables, const VecTimes &polynomial_durations)
Constructs a spline with constant durations.
Definition: node_spline.cc:36
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.
Definition: node_spline.cc:85
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41


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