spline.h
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00005 modification, are permitted provided that the following conditions are met:
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00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
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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
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00016   this software without specific prior written permission.
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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00029 
00030 #ifndef TOWR_VARIABLES_SPLINE_H_
00031 #define TOWR_VARIABLES_SPLINE_H_
00032 
00033 #include <vector>
00034 
00035 #include "polynomial.h"
00036 
00037 namespace towr {
00038 
00045 class Spline  {
00046 public:
00047   using VecTimes = std::vector<double>;
00048   using VecPoly  = std::vector<CubicHermitePolynomial>;
00049 
00050   Spline(const VecTimes& poly_durations, int n_dim);
00051   virtual ~Spline () = default;
00052 
00057   const State GetPoint(double t) const;
00058 
00064   const State GetPoint(int poly_id, double t_local) const;
00065 
00071   static int GetSegmentID(double t_global, const VecTimes& durations);
00072 
00076   double GetTotalTime() const;
00077 
00081   int GetPolynomialCount() const;
00082 
00086   VecTimes GetPolyDurations() const;
00087 
00088 protected:
00089   VecPoly cubic_polys_; 
00090 
00097   std::pair<int,double> GetLocalTime(double t_global, const VecTimes& d) const;
00098 
00103   void UpdatePolynomialCoeff();
00104 };
00105 
00106 } /* namespace towr */
00107 
00108 #endif /* TOWR_VARIABLES_SPLINE_H_ */


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