nodes_variables_all.cc
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29 
31 
32 namespace towr {
33 
34 NodesVariablesAll::NodesVariablesAll (int n_nodes, int n_dim, std::string variable_id)
35  : NodesVariables(variable_id)
36 {
37  int n_opt_variables = n_nodes*Node::n_derivatives*n_dim;
38 
39  n_dim_ = n_dim;
40  nodes_ = std::vector<Node>(n_nodes, Node(n_dim));
41  bounds_ = VecBound(n_opt_variables, ifopt::NoBound);
42  SetRows(n_opt_variables);
43 }
44 
45 std::vector<NodesVariablesAll::NodeValueInfo>
47 {
48  std::vector<NodeValueInfo> vec_nvi;
49 
50  int n_opt_values_per_node_ = 2*GetDim();
51  int internal_id = idx%n_opt_values_per_node_; // 0...6 (p.x, p.y, p.z, v.x, v.y. v.z)
52 
53  NodeValueInfo nvi;
54  nvi.deriv_ = internal_id<GetDim()? kPos : kVel;
55  nvi.dim_ = internal_id%GetDim();
56  nvi.id_ = std::floor(idx/n_opt_values_per_node_);
57 
58  vec_nvi.push_back(nvi);
59 
60  return vec_nvi;
61 }
62 
63 } /* namespace towr */
int id_
ID of the associated node (0 =< id < number of nodes in spline).
int dim_
Dimension (x,y,z) of that derivative.
Position and velocity of nodes used to generate a Hermite spline.
std::vector< Node > nodes_
static const Bounds NoBound
Semantic information associated with a scalar node value.
NodesVariablesAll(int n_nodes, int n_dim, std::string variable_id)
std::vector< NodeValueInfo > GetNodeValuesInfo(int idx) const override
Node values affected by one specific optimization variable.
void SetRows(int num_rows)
Dx deriv_
Derivative (pos,vel) of the node with that ID.
static const int n_derivatives
value and first derivative.
Definition: state.h:109
VecBound bounds_
the bounds on the node values.
std::vector< Bounds > VecBound
A node represents the state of a trajectory at a specific time.
Definition: state.h:107


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