A spline built from node values and fixed polynomial durations. More...
#include <node_spline.h>
Public Member Functions | |
| virtual Jacobian | GetJacobianOfPosWrtDurations (double t) const |
| How the spline position changes when the polynomial durations change. | |
| Jacobian | GetJacobianWrtNodes (double t, Dx dxdt) const |
| How the spline changes when the node values change. | |
| Jacobian | GetJacobianWrtNodes (int poly_id, double t_local, Dx dxdt) const |
| How the spline changes when the node values change. | |
| int | GetNodeVariablesCount () const |
| NodeSpline (NodeSubjectPtr const node_variables, const VecTimes &polynomial_durations) | |
| Constructs a spline with constant durations. | |
| void | UpdateNodes () |
| Called by subject to update the polynomials with new node values. | |
| ~NodeSpline () | |
Protected Member Functions | |
| void | FillJacobianWrtNodes (int poly_id, double t_local, Dx dxdt, Jacobian &jac, bool fill_with_zeros) const |
| Fills specific elements of the Jacobian with respect to nodes. | |
Protected Attributes | |
| Jacobian | jac_wrt_nodes_structure_ |
Detailed Description
A spline built from node values and fixed polynomial durations.
This class is responsible for combining the optimized node values with fixed polynomial durations to construct a sequence of CubicHermitePolynomial. For this it observes whether the node values change and then updates all the polynomials accordingly.
Definition at line 49 of file node_spline.h.
Constructor & Destructor Documentation
| towr::NodeSpline::NodeSpline | ( | NodeSubjectPtr const | node_variables, |
| const VecTimes & | polynomial_durations | ||
| ) |
Constructs a spline with constant durations.
- Parameters:
-
nodes_variables The optimized node variables (pos, vel). phase_durations The fixed duration of each phase.
Definition at line 36 of file node_spline.cc.
Member Function Documentation
| void towr::NodeSpline::FillJacobianWrtNodes | ( | int | poly_id, |
| double | t_local, | ||
| Dx | dxdt, | ||
| Jacobian & | jac, | ||
| bool | fill_with_zeros | ||
| ) | const [protected] |
Fills specific elements of the Jacobian with respect to nodes.
- Parameters:
-
poly_id The ID of the polynomial for which to get the sensitivity. t_local The time passed in the polynomial with poly_id. dxdt Whether the function is position, velocity or acceleration. jac[in/out] The correctly sized Jacobian to fill. fill_with_zeros True if only sparsity pattern should be set.
Definition at line 85 of file node_spline.cc.
| virtual Jacobian towr::NodeSpline::GetJacobianOfPosWrtDurations | ( | double | t | ) | const [inline, virtual] |
How the spline position changes when the polynomial durations change.
- Parameters:
-
t The time along the spline at which the sensitivity is required.
- Returns:
- the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized durations.
Reimplemented in towr::PhaseSpline.
Definition at line 102 of file node_spline.h.
| NodeSpline::Jacobian towr::NodeSpline::GetJacobianWrtNodes | ( | double | t, |
| Dx | dxdt | ||
| ) | const |
How the spline changes when the node values change.
- Parameters:
-
t The time along the spline at which the sensitivity is required. dxdt Whether the derivative of the pos, vel or acc is desired.
- Returns:
- the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized node variables.
Definition at line 63 of file node_spline.cc.
| NodeSpline::Jacobian towr::NodeSpline::GetJacobianWrtNodes | ( | int | poly_id, |
| double | t_local, | ||
| Dx | dxdt | ||
| ) | const |
How the spline changes when the node values change.
- Parameters:
-
poly_id Polynomial for which the sensitivity is desired. t_local Local time in that specific polynomial. dxdt Whether the derivative of the pos, vel or acc is desired.
- Returns:
- the pxn Jacobian, where: p: Number of dimensions of the spline n: Number of optimized node variables.
Definition at line 72 of file node_spline.cc.
| int towr::NodeSpline::GetNodeVariablesCount | ( | ) | const |
- Returns:
- The number of node variables being optimized over.
Definition at line 57 of file node_spline.cc.
| void towr::NodeSpline::UpdateNodes | ( | ) | [virtual] |
Called by subject to update the polynomials with new node values.
Implements towr::NodesObserver.
Definition at line 46 of file node_spline.cc.
Member Data Documentation
Jacobian towr::NodeSpline::jac_wrt_nodes_structure_ [mutable, protected] |
The size and non-zero elements of the Jacobian of the position w.r.t nodes.
Definition at line 108 of file node_spline.h.
The documentation for this class was generated from the following files: