Position and velocity of nodes used to generate a Hermite spline. More...

#include <nodes.h>

Inheritance diagram for towr::Nodes:

Classes
struct	IndexInfo
	Holds information about the node the optimization index represents. More...

Public Types
using	ObserverPtr = NodesObserver *

using	Ptr = std::shared_ptr< Nodes >

enum	Side { Start =0, End }

using	VecDurations = std::vector< double >

Public Member Functions
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< Node >	GetBoundaryNodes (int poly_id) const

virtual VecBound	GetBounds () const override

int	GetDim () const

virtual std::vector< IndexInfo >	GetNodeInfoAtOptIndex (int idx) const =0
	The node information that the optimization index represents. More...

const std::vector< Node >	GetNodes () 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...

Static Public Member Functions
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
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
VecBound	bounds_
	the bounds on the node values. More...

Private Member Functions
void	AddBound (const IndexInfo &node_info, double value)
	Restricts a specific optimization variables. More...

void	AddBounds (int node_id, Dx deriv, const std::vector< int > &dim, const VectorXd &values)
	Bounds a specific node variables. More...

void	UpdateObservers () const
	Notifies the subscribed observers that the node values changes. More...

Private Attributes
int	n_dim_

std::vector< Node >	nodes_

std::vector< ObserverPtr >	observers_

Detailed Description

Position and velocity of nodes used to generate a Hermite spline.

Instead of setting the polynomial coefficients directly, a third-order polynomial is also fully defined by the value and first-derivative of the start and end of the polynomial as well as the duration. This way of specifying a polynomial is called "Hermite". These are the node values of position and velocity.

See also: class CubicHermitePolynomial

Definition at line 52 of file nodes.h.

Member Typedef Documentation

using towr::Nodes::ObserverPtr = NodesObserver*

Definition at line 56 of file nodes.h.

using towr::Nodes::Ptr = std::shared_ptr<Nodes>

Definition at line 54 of file nodes.h.

using towr::Nodes::VecDurations = std::vector<double>

Definition at line 55 of file nodes.h.

Member Enumeration Documentation

enum towr::Nodes::Side

Enumerator
Start
End

Definition at line 130 of file nodes.h.

Constructor & Destructor Documentation

towr::Nodes::Nodes	(	int	n_dim,
		const std::string &	variable_name
	)

protected

Parameters

n_dim	The number of dimensions (x,y,..) each node has.
variable_name	The name of the variables in the optimization problem.

Definition at line 36 of file nodes.cc.

virtual towr::Nodes::~Nodes ( )

protectedvirtualdefault

Member Function Documentation

void towr::Nodes::AddBound	(	const IndexInfo &	node_info,
		double	value
	)

private

Restricts a specific optimization variables.

Parameters

node_info	The specs of the optimization variables to restrict.
value	The value to set the bounds to.

Definition at line 195 of file nodes.cc.

void towr::Nodes::AddBounds	(	int	node_id,
		Dx	deriv,
		const std::vector< int > &	dim,
		const VectorXd &	values
	)

private

Bounds a specific node variables.

Parameters

node_id	The ID of the node to bound.
deriv	The derivative of the node to set.
dim	The dimension of the node to bound.
values	The values to set the bounds to.

Definition at line 186 of file nodes.cc.

void towr::Nodes::AddFinalBound	(	Dx	deriv,
		const std::vector< int > &	dimensions,
		const VectorXd &	val
	)

Restricts the last node in the spline.

Parameters

deriv	Which derivative (pos,vel,...) should be restricted.
dimensions	Which dimensions (x,y,z) should be restricted.
val	The values the last node should be set to.

Definition at line 212 of file nodes.cc.

void towr::Nodes::AddObserver ( ObserverPtr const spline )

Adds a dependent observer that gets notified when the nodes change.

Parameters

spline Usually a pointer to a spline which uses the node values.

Definition at line 141 of file nodes.cc.

void towr::Nodes::AddStartBound	(	Dx	deriv,
		const std::vector< int > &	dimensions,
		const VectorXd &	val
	)

Restricts the first node in the spline.

Parameters

deriv	Which derivative (pos,vel,...) should be restricted.
dimensions	Which dimensions (x,y,z) should be restricted.
val	The values the fist node should be set to.

Definition at line 204 of file nodes.cc.

const std::vector< Node > towr::Nodes::GetBoundaryNodes ( int poly_id ) const

Returns: the two nodes that make up polynomial with "poly_id".

Definition at line 153 of file nodes.cc.

Nodes::VecBound towr::Nodes::GetBounds ( ) const

overridevirtual

Returns: the bounds on position and velocity of each node and dimension.

Definition at line 174 of file nodes.cc.

int towr::Nodes::GetDim ( ) const

Returns: The dimensions (x,y,z) of every node.

Definition at line 162 of file nodes.cc.

int towr::Nodes::GetNodeId	(	int	poly_id,
		Side	side
	)

static

The node ID that belongs to a specific side of a specific polynomial.

Parameters

poly_id	The ID of the polynomial within the spline.
side	The side from which the node ID is required.

Definition at line 147 of file nodes.cc.

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

pure virtual

The node information that the optimization index represents.

Parameters

idx	The 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.

Implemented in towr::PhaseNodes, and towr::BaseNodes.

Definition at line 93 of file nodes.cc.

const std::vector< Node > towr::Nodes::GetNodes ( ) const

Returns: All the nodes that can be used to reconstruct the spline.

Definition at line 180 of file nodes.cc.

int towr::Nodes::GetPolynomialCount ( ) const

Returns: the number of polynomials that can be built with these nodes.

Definition at line 168 of file nodes.cc.

Eigen::VectorXd towr::Nodes::GetValues ( ) const

override

Returns: the stacked node position and velocity values.

Definition at line 112 of file nodes.cc.

int towr::Nodes::Index ( const IndexInfo & node_info ) const

The index at which a specific node variable is stored.

Parameters

node_info The node variable we want to know the index for.

Returns: The position of this node value in the optimization variables.

Definition at line 80 of file nodes.cc.

int towr::Nodes::Index	(	int	node_id,
		Dx	deriv,
		int	node_dim
	)		const

Definition at line 74 of file nodes.cc.

void towr::Nodes::InitializeNodesTowardsGoal	(	const VectorXd &	initial_pos,
		const VectorXd &	final_pos,
		double	t_total
	)

Sets nodes pos/vel equally spaced from initial to final position.

Parameters

initial_pos	The position of the first node.
final_pos	The position of the final node.
t_total	The total duration to reach final node (to set velocities).

Definition at line 51 of file nodes.cc.

void towr::Nodes::InitMembers	(	int	n_nodes,
		int	n_variables
	)

protected

initializes the member variables.

Parameters

n_nodes	The number of nodes composing the spline.
n_variables	The number of variables being optimized over.

Not every node value must be optimized, so n_variables can be different than 2*n_nodes*n_dim.

Definition at line 43 of file nodes.cc.

void towr::Nodes::SetVariables ( const VectorXd & x )

override

Sets the node position and velocity optimization variables.

Parameters

x	The stacked variables.

Definition at line 124 of file nodes.cc.

void towr::Nodes::UpdateObservers ( ) const

private

Notifies the subscribed observers that the node values changes.

Definition at line 134 of file nodes.cc.

Member Data Documentation

VecBound towr::Nodes::bounds_

protected

the bounds on the node values.

Definition at line 176 of file nodes.h.

int towr::Nodes::n_dim_

private

Definition at line 190 of file nodes.h.

std::vector<Node> towr::Nodes::nodes_

private

Definition at line 189 of file nodes.h.

std::vector<ObserverPtr> towr::Nodes::observers_

private

Definition at line 196 of file nodes.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation