spline_holder.h
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29 
30 #ifndef TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_
31 #define TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_
32 
33 #include "phase_nodes.h"
34 #include "phase_durations.h"
35 #include "node_spline.h"
36 #include "nodes.h"
37 
38 namespace towr {
39 
46 struct SplineHolder {
47 
58  SplineHolder (Nodes::Ptr base_lin,
59  Nodes::Ptr base_ang,
60  const std::vector<double>& base_poly_durations,
61  std::vector<PhaseNodes::Ptr> ee_motion,
62  std::vector<PhaseNodes::Ptr> ee_force,
63  std::vector<PhaseDurations::Ptr> phase_durations,
64  bool ee_durations_change);
65 
66  SplineHolder () = default;
67 
70 
71  std::vector<NodeSpline::Ptr> ee_motion_;
72  std::vector<NodeSpline::Ptr> ee_force_;
73  std::vector<PhaseDurations::Ptr> phase_durations_;
74 };
75 
76 } /* namespace towr */
77 
78 #endif /* TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_ */
SplineHolder()=default
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:52
std::vector< PhaseDurations::Ptr > phase_durations_
Definition: spline_holder.h:73
Holds pointers to fully constructed splines, that are linked to the optimization variables.
Definition: spline_holder.h:46
NodeSpline::Ptr base_linear_
Definition: spline_holder.h:68
std::shared_ptr< Nodes > Ptr
Definition: nodes.h:54
std::vector< NodeSpline::Ptr > ee_force_
Definition: spline_holder.h:72
NodeSpline::Ptr base_angular_
Definition: spline_holder.h:69
std::vector< NodeSpline::Ptr > ee_motion_
Definition: spline_holder.h:71


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