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_durations.h"
34 #include "node_spline.h"
35 #include "nodes_variables.h"
37 
38 namespace towr {
39 
47 struct SplineHolder {
59  NodesVariables::Ptr base_ang,
60  const std::vector<double>& base_poly_durations,
61  std::vector<NodesVariablesPhaseBased::Ptr> ee_motion,
62  std::vector<NodesVariablesPhaseBased::Ptr> ee_force,
63  std::vector<PhaseDurations::Ptr> phase_durations,
64  bool ee_durations_change);
65 
69  SplineHolder () = default;
70 
73 
74  std::vector<NodeSpline::Ptr> ee_motion_;
75  std::vector<NodeSpline::Ptr> ee_force_;
76  std::vector<PhaseDurations::Ptr> phase_durations_;
77 };
78 
79 } /* namespace towr */
80 
81 #endif /* TOWR_TOWR_INCLUDE_TOWR_VARIABLES_SPLINE_HOLDER_H_ */
SplineHolder()=default
Attention, nothing initialized.
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
std::vector< PhaseDurations::Ptr > phase_durations_
Definition: spline_holder.h:76
std::shared_ptr< NodesVariables > Ptr
Builds splines from node values (pos/vel) and durations.
Definition: spline_holder.h:47
NodeSpline::Ptr base_linear_
Definition: spline_holder.h:71
std::vector< NodeSpline::Ptr > ee_force_
Definition: spline_holder.h:75
NodeSpline::Ptr base_angular_
Definition: spline_holder.h:72
std::vector< NodeSpline::Ptr > ee_motion_
Definition: spline_holder.h:74


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16