Public Member Functions | Public Attributes | List of all members
towr::SplineHolder Struct Reference

Builds splines from node values (pos/vel) and durations. More...

#include <spline_holder.h>

Public Member Functions

 SplineHolder (NodesVariables::Ptr base_lin, NodesVariables::Ptr base_ang, const std::vector< double > &base_poly_durations, std::vector< NodesVariablesPhaseBased::Ptr > ee_motion, std::vector< NodesVariablesPhaseBased::Ptr > ee_force, std::vector< PhaseDurations::Ptr > phase_durations, bool ee_durations_change)
 Fully construct all splines. More...
 
 SplineHolder ()=default
 Attention, nothing initialized. More...
 

Public Attributes

NodeSpline::Ptr base_angular_
 
NodeSpline::Ptr base_linear_
 
std::vector< NodeSpline::Ptree_force_
 
std::vector< NodeSpline::Ptree_motion_
 
std::vector< PhaseDurations::Ptrphase_durations_
 

Detailed Description

Builds splines from node values (pos/vel) and durations.

These splines are linked to the optimization variables, so change as the nodes or durations change. This is a convenience class to not have to construct the splines from the variables new every time.

Definition at line 47 of file spline_holder.h.

Constructor & Destructor Documentation

◆ SplineHolder() [1/2]

towr::SplineHolder::SplineHolder ( NodesVariables::Ptr  base_lin,
NodesVariables::Ptr  base_ang,
const std::vector< double > &  base_poly_durations,
std::vector< NodesVariablesPhaseBased::Ptr ee_motion,
std::vector< NodesVariablesPhaseBased::Ptr ee_force,
std::vector< PhaseDurations::Ptr phase_durations,
bool  ee_durations_change 
)

Fully construct all splines.

Parameters
base_linThe nodes describing the base linear motion.
base_angThe nodes describing the base angular motion.
base_poly_durationsThe durations of each base polynomial.
ee_motionThe nodes describing the endeffector motions.
ee_forceThe nodes describing the endeffector forces.
phase_durationsThe phase durations of each endeffector.
ee_durations_changeTrue if the ee durations are optimized over.

Definition at line 35 of file spline_holder.cc.

◆ SplineHolder() [2/2]

towr::SplineHolder::SplineHolder ( )
default

Attention, nothing initialized.

Member Data Documentation

◆ base_angular_

NodeSpline::Ptr towr::SplineHolder::base_angular_

Definition at line 72 of file spline_holder.h.

◆ base_linear_

NodeSpline::Ptr towr::SplineHolder::base_linear_

Definition at line 71 of file spline_holder.h.

◆ ee_force_

std::vector<NodeSpline::Ptr> towr::SplineHolder::ee_force_

Definition at line 75 of file spline_holder.h.

◆ ee_motion_

std::vector<NodeSpline::Ptr> towr::SplineHolder::ee_motion_

Definition at line 74 of file spline_holder.h.

◆ phase_durations_

std::vector<PhaseDurations::Ptr> towr::SplineHolder::phase_durations_

Definition at line 76 of file spline_holder.h.


The documentation for this struct was generated from the following files:


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