Ensure that the optimized motion complies with the system dynamics. More...

#include <dynamic_constraint.h>

Inheritance diagram for towr::DynamicConstraint:

Public Member Functions
	DynamicConstraint (const DynamicModel::Ptr &model, double T, double dt, const SplineHolder &spline_holder)
	Construct a Dynamic constraint.
virtual	~DynamicConstraint ()
Private Member Functions
int	GetRow (int k, Dim6D dimension) const
	The row in the overall constraint for this evaluation time.
void	UpdateBoundsAtInstance (double t, int k, VecBound &bounds) const override
	Sets upper/lower bound a specific time t, corresponding to node k.
void	UpdateConstraintAtInstance (double t, int k, VectorXd &g) const override
	Sets the constraint value a specific time t, corresponding to node k.
void	UpdateJacobianAtInstance (double t, int k, std::string, Jacobian &) const override
	Sets Jacobian rows at a specific time t, corresponding to node k.
void	UpdateModel (double t) const
	Updates the model with the current state and forces.
Private Attributes
EulerConverter	base_angular_
	angular base state
NodeSpline::Ptr	base_linear_
	lin. base pos/vel/acc in world frame
std::vector< NodeSpline::Ptr >	ee_forces_
	endeffector forces in world frame.
std::vector< NodeSpline::Ptr >	ee_motion_
	endeffector position in world frame.
DynamicModel::Ptr	model_
	the dynamic model (e.g. Centroidal)

Detailed Description

Ensure that the optimized motion complies with the system dynamics.

At specific time instances along the trajecetory, this class checks the current value of the optimization variables and makes sure that the current robot state (pos,vel) and forces match the current acceleration defined by the system dynamics.

The physics-based acceleration is influenced by the robot state as

xdd(t) = f(x(t), xd(t), f(t))

The constraint of the optimization variables w is then:

g(t) = acc_spline(t) - xdd(t) = acc_spline(t) - xdd(x(t), xd(t), f(t)) = acc_spline(w) - xdd(w)

Definition at line 63 of file dynamic_constraint.h.

Constructor & Destructor Documentation

towr::DynamicConstraint::DynamicConstraint	(	const DynamicModel::Ptr &	model,
		double	T,
		double	dt,
		const SplineHolder &	spline_holder
	)

Construct a Dynamic constraint.

Parameters:

model	The system dynamics to enforce (e.g. centroidal, LIP, ...)
T	The total duration of the optimization.
dt	the discretization intervall at which to enforce constraints.
spline_holder	A pointer to the current optimization variables.

Definition at line 37 of file dynamic_constraint.cc.

virtual towr::DynamicConstraint::~DynamicConstraint ( ) [virtual]

Member Function Documentation

int towr::DynamicConstraint::GetRow	(	int	k,
		Dim6D	dimension
	)		const `[private]`

The row in the overall constraint for this evaluation time.

Parameters:

k	The index of the constraint evaluation at t=k*dt.
dimension	Which base acceleration dimension this constraint is for.

Returns:: The constraint index in the overall dynamic constraint.

Definition at line 54 of file dynamic_constraint.cc.

void towr::DynamicConstraint::UpdateBoundsAtInstance	(	double	t,
		int	k,
		VecBound &	b
	)		const `[override, private, virtual]`

Sets upper/lower bound a specific time t, corresponding to node k.

Parameters:

t	The time along the trajectory to set the bounds.
k	The index of the time t, so t=k*dt
in/out]	b The complete vector of bounds, for which the corresponding row must be set.

Implements towr::TimeDiscretizationConstraint.

Definition at line 67 of file dynamic_constraint.cc.

void towr::DynamicConstraint::UpdateConstraintAtInstance	(	double	t,
		int	k,
		VectorXd &	g
	)		const `[override, private, virtual]`

Sets the constraint value a specific time t, corresponding to node k.

Parameters:

t	The time along the trajectory to set the constraint.
k	The index of the time t, so t=k*dt
in/out]	g The complete vector of constraint values, for which the corresponding row must be filled.

Implements towr::TimeDiscretizationConstraint.

Definition at line 60 of file dynamic_constraint.cc.

void towr::DynamicConstraint::UpdateJacobianAtInstance	(	double	t,
		int	k,
		std::string	var_set,
		Jacobian &	jac
	)		const `[override, private, virtual]`

Sets Jacobian rows at a specific time t, corresponding to node k.

Parameters:

t	The time along the trajcetory to set the bounds.
k	The index of the time t, so t=k*dt
var_set	The name of the ifopt variables currently being queried for.
in/out]	jac The complete Jacobian, for which the corresponding row and columns must be set.

Implements towr::TimeDiscretizationConstraint.

Definition at line 74 of file dynamic_constraint.cc.

void towr::DynamicConstraint::UpdateModel ( double t ) const [private]

Updates the model with the current state and forces.

Parameters:

t	Time at which to query the state and force splines.

Definition at line 120 of file dynamic_constraint.cc.

Member Data Documentation

EulerConverter towr::DynamicConstraint::base_angular_ [private]

angular base state

Definition at line 81 of file dynamic_constraint.h.

NodeSpline::Ptr towr::DynamicConstraint::base_linear_ [private]

lin. base pos/vel/acc in world frame

Definition at line 80 of file dynamic_constraint.h.

std::vector<NodeSpline::Ptr> towr::DynamicConstraint::ee_forces_ [private]

endeffector forces in world frame.

Definition at line 82 of file dynamic_constraint.h.

std::vector<NodeSpline::Ptr> towr::DynamicConstraint::ee_motion_ [private]

endeffector position in world frame.

Definition at line 83 of file dynamic_constraint.h.

DynamicModel::Ptr towr::DynamicConstraint::model_ [mutable, private]

the dynamic model (e.g. Centroidal)

Definition at line 85 of file dynamic_constraint.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation