nodes_variables.h
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29 
30 #ifndef TOWR_VARIABLES_NODE_VALUES_H_
31 #define TOWR_VARIABLES_NODE_VALUES_H_
32 
33 #include <ifopt/variable_set.h>
34 
35 #include "state.h"
36 #include "nodes_observer.h"
37 
38 namespace towr {
39 
72 public:
73  using Ptr = std::shared_ptr<NodesVariables>;
74  using VecDurations = std::vector<double>;
76 
85  struct NodeValueInfo {
86  int id_;
88  int dim_;
89 
90  NodeValueInfo() = default;
91  NodeValueInfo(int node_id, Dx deriv, int node_dim);
92  int operator==(const NodeValueInfo& right) const;
93  };
94 
105  virtual std::vector<NodeValueInfo> GetNodeValuesInfo(int opt_idx) const = 0;
106 
114  int GetOptIndex(const NodeValueInfo& nvi) const;
115  static const int NodeValueNotOptimized = -1;
116 
125  VectorXd GetValues () const override;
126 
137  void SetVariables (const VectorXd&x) override;
138 
142  VecBound GetBounds () const override;
143 
147  const std::vector<Node> GetNodes() const;
148 
152  int GetPolynomialCount() const;
153 
157  const std::vector<Node> GetBoundaryNodes(int poly_id) const;
158 
159  enum Side {Start=0, End};
165  static int GetNodeId(int poly_id, Side side);
166 
171  void AddObserver(ObserverPtr const spline);
172 
176  int GetDim() const;
177 
184  void SetByLinearInterpolation(const VectorXd& initial_val,
185  const VectorXd& final_val,
186  double t_total);
187 
194  void AddStartBound (Dx deriv, const std::vector<int>& dimensions,
195  const VectorXd& val);
196 
203  void AddFinalBound(Dx deriv, const std::vector<int>& dimensions,
204  const VectorXd& val);
205 
206 protected:
211  NodesVariables (const std::string& variable_name);
212  virtual ~NodesVariables () = default;
213 
215  std::vector<Node> nodes_;
216  int n_dim_;
217 
218 private:
222  void UpdateObservers() const;
223  std::vector<ObserverPtr> observers_;
224 
232  void AddBounds(int node_id, Dx deriv, const std::vector<int>& dim,
233  const VectorXd& values);
239  void AddBound(const NodeValueInfo& node_info, double value);
240 };
241 
242 } /* namespace towr */
243 
244 #endif /* TOWR_VARIABLES_NODE_VALUES_H_ */
Base class to receive up-to-date values of the NodeVariables.
int GetPolynomialCount() const
int operator==(const NodeValueInfo &right) const
const std::vector< Node > GetNodes() const
VectorXd GetValues() const override
Pure optimization variables that define the nodes.
int id_
ID of the associated node (0 =< id < number of nodes in spline).
void AddBound(const NodeValueInfo &node_info, double value)
Restricts a specific optimization variables.
void UpdateObservers() const
Notifies the subscribed observers that the node values changes.
NodesVariables(const std::string &variable_name)
void SetVariables(const VectorXd &x) override
Sets some node positions and velocity from the optimization variables.
int dim_
Dimension (x,y,z) of that derivative.
Position and velocity of nodes used to generate a Hermite spline.
virtual ~NodesVariables()=default
static const int NodeValueNotOptimized
std::vector< Node > nodes_
std::shared_ptr< Component > Ptr
static int GetNodeId(int poly_id, Side side)
The node ID that belongs to a specific side of a specific polynomial.
Semantic information associated with a scalar node value.
int GetOptIndex(const NodeValueInfo &nvi) const
Index in the optimization vector for a specific nodes&#39; pos/vel.
VecBound GetBounds() const override
Dx deriv_
Derivative (pos,vel) of the node with that ID.
const std::vector< Node > GetBoundaryNodes(int poly_id) const
void AddStartBound(Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
Restricts the first node in the spline.
virtual std::vector< NodeValueInfo > GetNodeValuesInfo(int opt_idx) const =0
Node values affected by one specific optimization variable.
std::vector< double > VecDurations
void AddBounds(int node_id, Dx deriv, const std::vector< int > &dim, const VectorXd &values)
Bounds a specific node variables.
void AddFinalBound(Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
Restricts the last node in the spline.
void SetByLinearInterpolation(const VectorXd &initial_val, const VectorXd &final_val, double t_total)
Sets nodes pos/vel equally spaced from initial to final position.
VecBound bounds_
the bounds on the node values.
std::vector< Bounds > VecBound
void AddObserver(ObserverPtr const spline)
Adds a dependent observer that gets notified when the nodes change.
std::vector< ObserverPtr > observers_
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41
Eigen::VectorXd VectorXd


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