Public Member Functions | List of all members
towr::BaseNodes Class Reference

Node variables used to construct the base motion spline. More...

#include <base_nodes.h>

Inheritance diagram for towr::BaseNodes:
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Public Member Functions

 BaseNodes (int n_nodes, std::string variable_id)
 
virtual std::vector< IndexInfoGetNodeInfoAtOptIndex (int idx) const override
 The node information that the optimization index represents. More...
 
virtual ~BaseNodes ()=default
 
- Public Member Functions inherited from towr::Nodes
void AddFinalBound (Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
 Restricts the last node in the spline. More...
 
void AddObserver (ObserverPtr const spline)
 Adds a dependent observer that gets notified when the nodes change. More...
 
void AddStartBound (Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
 Restricts the first node in the spline. More...
 
const std::vector< NodeGetBoundaryNodes (int poly_id) const
 
virtual VecBound GetBounds () const override
 
int GetDim () const
 
const std::vector< NodeGetNodes () const
 
int GetPolynomialCount () const
 
VectorXd GetValues () const override
 
int Index (const IndexInfo &node_info) const
 The index at which a specific node variable is stored. More...
 
int Index (int node_id, Dx deriv, int node_dim) const
 
void InitializeNodesTowardsGoal (const VectorXd &initial_pos, const VectorXd &final_pos, double t_total)
 Sets nodes pos/vel equally spaced from initial to final position. More...
 
void SetVariables (const VectorXd &x) override
 Sets the node position and velocity optimization variables. More...
 

Additional Inherited Members

- Public Types inherited from towr::Nodes
using ObserverPtr = NodesObserver *
 
using Ptr = std::shared_ptr< Nodes >
 
enum  Side { Start =0, End }
 
using VecDurations = std::vector< double >
 
- Static Public Member Functions inherited from towr::Nodes
static int GetNodeId (int poly_id, Side side)
 The node ID that belongs to a specific side of a specific polynomial. More...
 
- Protected Member Functions inherited from towr::Nodes
void InitMembers (int n_nodes, int n_variables)
 initializes the member variables. More...
 
 Nodes (int n_dim, const std::string &variable_name)
 
virtual ~Nodes ()=default
 
- Protected Attributes inherited from towr::Nodes
VecBound bounds_
 the bounds on the node values. More...
 

Detailed Description

Node variables used to construct the base motion spline.

Every node is optimized over, in contrast to PhaseNodes, where multiple nodes in the spline are represented by the same optimization variables.

Definition at line 43 of file base_nodes.h.

Constructor & Destructor Documentation

towr::BaseNodes::BaseNodes ( int  n_nodes,
std::string  variable_id 
)
Parameters
n_nodesThe number of nodes to construct the spline.
variable_idThe name of this variables set in the optimization.

Definition at line 35 of file base_nodes.cc.

virtual towr::BaseNodes::~BaseNodes ( )
virtualdefault

Member Function Documentation

std::vector< BaseNodes::IndexInfo > towr::BaseNodes::GetNodeInfoAtOptIndex ( int  idx) const
overridevirtual

The node information that the optimization index represents.

Parameters
idxThe index (=row) of the node optimization variable.
Returns
Semantic information on what that optimization variables means.

One optimization variables can also represent multiple nodes in the spline if they are always equal (e.g. constant phases). This is why this function returns a vector.

Implements towr::Nodes.

Definition at line 43 of file base_nodes.cc.


The documentation for this class was generated from the following files:


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 8 2018 02:18:53