phase_spline.h
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29 
30 #ifndef TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_
31 #define TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_
32 
33 #include "node_spline.h"
36 
37 namespace towr {
38 
48 public:
49  using Ptr = std::shared_ptr<PhaseSpline>;
51 
57  PhaseSpline(NodesVariablesPhaseBased::Ptr const node_variables,
58  PhaseDurations* const phase_durations);
59  ~PhaseSpline() = default;
60 
64  void UpdatePolynomialDurations() override;
65 
73  Jacobian GetJacobianOfPosWrtDurations(double t) const override;
74 
75 private:
82 
83  NodesVariablesPhaseBased::Ptr phase_nodes_; // retain pointer for extended functionality
84 };
85 
86 } /* namespace towr */
87 
88 #endif /* TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_ */
Eigen::VectorXd GetDerivativeOfPosWrtPhaseDuration(double t) const
How the position at time t changes with current phase duration.
Definition: phase_spline.cc:78
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
Base class to receive up-to-date values of the ContactSchedule.
A spline built from node values and fixed polynomial durations.
Definition: node_spline.h:49
Eigen::VectorXd VectorXd
void UpdatePolynomialDurations() override
Called by subject to update polynomial durations when they changed.
Definition: phase_spline.cc:55
std::shared_ptr< NodesVariablesPhaseBased > Ptr
A variable set composed of the phase durations of an endeffector.
NodesVariablesPhaseBased::Ptr phase_nodes_
Definition: phase_spline.h:83
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: node_spline.h:52
Eigen::VectorXd VectorXd
Definition: phase_spline.h:50
Jacobian GetJacobianOfPosWrtDurations(double t) const override
How the spline position changes when the polynomial durations change.
Definition: phase_spline.cc:68
~PhaseSpline()=default
A spline built from node values and polynomial durations.
Definition: phase_spline.h:47
PhaseSpline(NodesVariablesPhaseBased::Ptr const node_variables, PhaseDurations *const phase_durations)
Constructs a spline with varying/optimized phase durations.
Definition: phase_spline.cc:35


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