phase_spline.h

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#ifndef TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_
#define TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_

#include "node_spline.h"
#include "phase_durations_observer.h"
#include "nodes_variables_phase_based.h"

namespace towr {

class PhaseSpline : public NodeSpline, public PhaseDurationsObserver{
public:
  using Ptr = std::shared_ptr<PhaseSpline>;
  using VectorXd = Eigen::VectorXd;

  PhaseSpline(NodesVariablesPhaseBased::Ptr const node_variables,
              PhaseDurations* const phase_durations);
  ~PhaseSpline() = default;

  void UpdatePolynomialDurations() override;

  Jacobian GetJacobianOfPosWrtDurations(double t) const override;

private:
  Eigen::VectorXd GetDerivativeOfPosWrtPhaseDuration (double t) const;

  NodesVariablesPhaseBased::Ptr phase_nodes_; // retain pointer for extended functionality
};

} /* namespace towr */

#endif /* TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_ */