spline_holder.cc
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2 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
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29 
32 
33 namespace towr{
34 
37  const std::vector<double>& base_poly_durations,
38  std::vector<NodesVariablesPhaseBased::Ptr> ee_motion_nodes,
39  std::vector<NodesVariablesPhaseBased::Ptr> ee_force_nodes,
40  std::vector<PhaseDurations::Ptr> phase_durations,
41  bool durations_change)
42 {
43  base_linear_ = std::make_shared<NodeSpline>(base_lin_nodes.get(), base_poly_durations);
44  base_angular_ = std::make_shared<NodeSpline>(base_ang_nodes.get(), base_poly_durations);
45  phase_durations_ = phase_durations;
46 
47  for (uint ee=0; ee<ee_motion_nodes.size(); ++ee) {
48  if (durations_change) {
49  // spline that changes the polynomial durations (affects Jacobian)
50  ee_motion_.push_back(std::make_shared<PhaseSpline>(ee_motion_nodes.at(ee), phase_durations.at(ee).get()));
51  ee_force_.push_back(std::make_shared<PhaseSpline>(ee_force_nodes.at(ee), phase_durations.at(ee).get()));
52  } else {
53  // spline without changing the polynomial durations
54  auto ee_motion_poly_durations = ee_motion_nodes.at(ee)->ConvertPhaseToPolyDurations(phase_durations.at(ee)->GetPhaseDurations());
55  auto ee_force_poly_durations = ee_force_nodes.at(ee)->ConvertPhaseToPolyDurations(phase_durations.at(ee)->GetPhaseDurations());
56 
57  ee_motion_.push_back(std::make_shared<NodeSpline>(ee_motion_nodes.at(ee).get(), ee_motion_poly_durations));
58  ee_force_.push_back (std::make_shared<NodeSpline>(ee_force_nodes.at(ee).get(), ee_force_poly_durations));
59  }
60  }
61 }
62 
63 } /* namespace towr */
SplineHolder()=default
Attention, nothing initialized.
std::vector< PhaseDurations::Ptr > phase_durations_
Definition: spline_holder.h:76
std::shared_ptr< NodesVariables > Ptr
static const std::string ee_motion_nodes
static const std::string ee_force_nodes
NodeSpline::Ptr base_linear_
Definition: spline_holder.h:71
std::vector< NodeSpline::Ptr > ee_force_
Definition: spline_holder.h:75
NodeSpline::Ptr base_angular_
Definition: spline_holder.h:72
static const std::string base_ang_nodes
std::vector< NodeSpline::Ptr > ee_motion_
Definition: spline_holder.h:74
static const std::string base_lin_nodes


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