phase_spline.h
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00010 * Redistributions in binary form must reproduce the above copyright notice,
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #ifndef TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_
00031 #define TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_
00032 
00033 #include "node_spline.h"
00034 #include "phase_durations_observer.h"
00035 #include "phase_nodes.h"
00036 
00037 namespace towr {
00038 
00047 class PhaseSpline : public NodeSpline, public PhaseDurationsObserver{
00048 public:
00049   using Ptr = std::shared_ptr<PhaseSpline>;
00050   using VectorXd = Eigen::VectorXd;
00051 
00057   PhaseSpline(PhaseNodes::Ptr const node_variables,
00058               PhaseDurations* const phase_durations);
00059   ~PhaseSpline() = default;
00060 
00064   virtual void UpdatePolynomialDurations() override;
00065 
00073   Jacobian GetJacobianOfPosWrtDurations(double t) const override;
00074 
00075 private:
00081   Eigen::VectorXd GetDerivativeOfPosWrtPhaseDuration (double t) const;
00082 
00083   PhaseNodes::Ptr phase_nodes_; // retain pointer for extended functionality
00084 };
00085 
00086 } /* namespace towr */
00087 
00088 #endif /* TOWR_TOWR_INCLUDE_TOWR_VARIABLES_PHASE_SPLINE_H_ */


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