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.
	SplineHolder ()
	Attention, nothing initialized.
Public Attributes
NodeSpline::Ptr	base_angular_
NodeSpline::Ptr	base_linear_
std::vector< NodeSpline::Ptr >	ee_force_
std::vector< NodeSpline::Ptr >	ee_motion_
std::vector< PhaseDurations::Ptr >	phase_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

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_lin	The nodes describing the base linear motion.
base_ang	The nodes describing the base angular motion.
base_poly_durations	The durations of each base polynomial.
ee_motion	The nodes describing the endeffector motions.
ee_force	The nodes describing the endeffector forces.
phase_durations	The phase durations of each endeffector.
ee_durations_change	True if the ee durations are optimized over.