Builds splines from node values (pos/vel) and durations. More...
#include <spline_holder.h>
Public Member Functions | |
| SplineHolder (NodesVariables::Ptr base_lin, NodesVariables::Ptr base_ang, const std::vector< double > &base_poly_durations, std::vector< NodesVariablesPhaseBased::Ptr > ee_motion, std::vector< NodesVariablesPhaseBased::Ptr > ee_force, std::vector< PhaseDurations::Ptr > phase_durations, bool ee_durations_change) | |
| Fully construct all splines. More... | |
| SplineHolder ()=default | |
| Attention, nothing initialized. More... | |
Public Attributes | |
| NodeSpline::Ptr | base_angular_ |
| NodeSpline::Ptr | base_linear_ |
| std::vector< NodeSpline::Ptr > | ee_force_ |
| std::vector< NodeSpline::Ptr > | ee_motion_ |
| std::vector< PhaseDurations::Ptr > | phase_durations_ |
Builds splines from node values (pos/vel) and durations.
These splines are linked to the optimization variables, so change as the nodes or durations change. This is a convenience class to not have to construct the splines from the variables new every time.
Definition at line 47 of file spline_holder.h.
| towr::SplineHolder::SplineHolder | ( | NodesVariables::Ptr | base_lin, |
| NodesVariables::Ptr | base_ang, | ||
| const std::vector< double > & | base_poly_durations, | ||
| std::vector< NodesVariablesPhaseBased::Ptr > | ee_motion, | ||
| std::vector< NodesVariablesPhaseBased::Ptr > | ee_force, | ||
| std::vector< PhaseDurations::Ptr > | phase_durations, | ||
| bool | ee_durations_change | ||
| ) |
Fully construct all splines.
| base_lin | The nodes describing the base linear motion. |
| base_ang | The nodes describing the base angular motion. |
| base_poly_durations | The durations of each base polynomial. |
| ee_motion | The nodes describing the endeffector motions. |
| ee_force | The nodes describing the endeffector forces. |
| phase_durations | The phase durations of each endeffector. |
| ee_durations_change | True if the ee durations are optimized over. |
Definition at line 35 of file spline_holder.cc.
|
default |
Attention, nothing initialized.
| NodeSpline::Ptr towr::SplineHolder::base_angular_ |
Definition at line 72 of file spline_holder.h.
| NodeSpline::Ptr towr::SplineHolder::base_linear_ |
Definition at line 71 of file spline_holder.h.
| std::vector<NodeSpline::Ptr> towr::SplineHolder::ee_force_ |
Definition at line 75 of file spline_holder.h.
| std::vector<NodeSpline::Ptr> towr::SplineHolder::ee_motion_ |
Definition at line 74 of file spline_holder.h.
| std::vector<PhaseDurations::Ptr> towr::SplineHolder::phase_durations_ |
Definition at line 76 of file spline_holder.h.