spline.h
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29 
30 #ifndef TOWR_VARIABLES_SPLINE_H_
31 #define TOWR_VARIABLES_SPLINE_H_
32 
33 #include <vector>
34 
35 #include "polynomial.h"
36 
37 namespace towr {
38 
45 class Spline {
46 public:
47  using VecTimes = std::vector<double>;
48  using VecPoly = std::vector<CubicHermitePolynomial>;
49 
50  Spline(const VecTimes& poly_durations, int n_dim);
51  virtual ~Spline () = default;
52 
57  const State GetPoint(double t) const;
58 
64  const State GetPoint(int poly_id, double t_local) const;
65 
71  static int GetSegmentID(double t_global, const VecTimes& durations);
72 
76  double GetTotalTime() const;
77 
81  int GetPolynomialCount() const;
82 
86  VecTimes GetPolyDurations() const;
87 
88 protected:
90 
97  std::pair<int,double> GetLocalTime(double t_global, const VecTimes& d) const;
98 
103  void UpdatePolynomialCoeff();
104 };
105 
106 } /* namespace towr */
107 
108 #endif /* TOWR_VARIABLES_SPLINE_H_ */
VecTimes GetPolyDurations() const
Definition: spline.cc:109
Stores at state comprised of values and higher-order derivatives.
Definition: state.h:49
A spline built from a sequence of cubic polynomials.
Definition: spline.h:45
std::vector< double > VecTimes
Definition: spline.h:47
std::pair< int, double > GetLocalTime(double t_global, const VecTimes &d) const
How much time of the current segment has passed at t_global.
Definition: spline.cc:69
int GetPolynomialCount() const
Definition: spline.cc:103
VecPoly cubic_polys_
the sequence of polynomials making up the spline.
Definition: spline.h:89
void UpdatePolynomialCoeff()
Updates the cubic-Hermite polynomial coefficients using the currently set nodes values and durations...
Definition: spline.cc:96
static int GetSegmentID(double t_global, const VecTimes &durations)
Definition: spline.cc:49
std::vector< CubicHermitePolynomial > VecPoly
Definition: spline.h:48
double GetTotalTime() const
Definition: spline.cc:119
const State GetPoint(double t) const
Definition: spline.cc:81
virtual ~Spline()=default
Spline(const VecTimes &poly_durations, int n_dim)
Definition: spline.cc:36


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