spline_acc_constraint.h
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29 
30 #ifndef SPLINE_ACC_CONSTRAINT_H_
31 #define SPLINE_ACC_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
36 
37 namespace towr {
38 
49 public:
50  SplineAccConstraint(const NodeSpline::Ptr& spline, std::string name);
51  virtual ~SplineAccConstraint() = default;
52 
53  VectorXd GetValues() const override;
54  VecBound GetBounds() const override;
55  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
56 
57 private:
59  std::string node_variables_id_;
60 
62  int n_dim_;
63  std::vector<double> T_;
64 };
65 
66 } /* namespace towr */
67 
68 #endif /* SPLINE_ACC_CONSTRAINT_H_ */
Ensures continuous accelerations between polynomials.
NodeSpline::Ptr spline_
a spline comprised of polynomials
int n_dim_
dimensions that this polynomial represents (e.g. x,y).
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
int n_junctions_
polynomial parameterized node values
VectorXd GetValues() const override
std::vector< double > T_
Duration of each polynomial in spline.
virtual ~SplineAccConstraint()=default
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
VecBound GetBounds() const override
void FillJacobianBlock(std::string var_set, Jacobian &) const override
std::vector< Bounds > VecBound
SplineAccConstraint(const NodeSpline::Ptr &spline, std::string name)
Eigen::VectorXd VectorXd


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