node_spline.h
Go to the documentation of this file.
00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without
00005 modification, are permitted provided that the following conditions are met:
00006 
00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
00009 
00010 * Redistributions in binary form must reproduce the above copyright notice,
00011   this list of conditions and the following disclaimer in the documentation
00012   and/or other materials provided with the distribution.
00013 
00014 * Neither the name of the copyright holder nor the names of its
00015   contributors may be used to endorse or promote products derived from
00016   this software without specific prior written permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00025 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00026 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00027 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 ******************************************************************************/
00029 
00030 #ifndef TOWR_TOWR_SRC_NODE_SPLINE_H_
00031 #define TOWR_TOWR_SRC_NODE_SPLINE_H_
00032 
00033 #include <memory>
00034 #include <Eigen/Sparse>
00035 
00036 #include "spline.h"
00037 #include "nodes_observer.h"
00038 
00039 namespace towr {
00040 
00041 
00050 class NodeSpline : public Spline, public NodesObserver {
00051 public:
00052   using Ptr = std::shared_ptr<NodeSpline>;
00053   using Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>;
00054 
00060   NodeSpline(NodeSubjectPtr const node_variables,
00061              const VecTimes& polynomial_durations);
00062   ~NodeSpline() = default;
00063 
00067   void UpdateNodes();
00068 
00077   Jacobian GetJacobianWrtNodes(double t, Dx dxdt) const;
00078 
00088   Jacobian GetJacobianWrtNodes(int poly_id, double t_local, Dx dxdt) const;
00089 
00093   int GetNodeVariablesCount() const;
00094 
00102   virtual Jacobian
00103   GetJacobianOfPosWrtDurations(double t) const { assert(false); } // durations are fixed here
00104 
00105 protected:
00106 
00110   mutable Jacobian jac_wrt_nodes_structure_;
00111 
00120   void FillJacobianWrtNodes (int poly_id, double t_local, Dx dxdt,
00121                              Jacobian& jac, bool fill_with_zeros) const;
00122 
00123 };
00124 
00125 } /* namespace towr */
00126 
00127 #endif /* TOWR_TOWR_SRC_NODE_SPLINE_H_ */


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44