A sample combination of variables, cost and constraints. More...
#include <nlp_formulation.h>
Public Member Functions | |
| ContraintPtrVec | GetConstraints (const SplineHolder &spline_holder) const |
| The ifopt constraints that enforce feasible motions. | |
| ContraintPtrVec | GetCosts () const |
| The ifopt costs to tune the motion. | |
| VariablePtrVec | GetVariableSets (SplineHolder &spline_holder) |
| The ifopt variable sets that will be optimized over. | |
| NlpFormulation () | |
| virtual | ~NlpFormulation () |
Public Attributes | |
| BaseState | final_base_ |
| BaseState | initial_base_ |
| EEPos | initial_ee_W_ |
| RobotModel | model_ |
| Parameters | params_ |
| HeightMap::Ptr | terrain_ |
Private Member Functions | |
| ContraintPtrVec | GetConstraint (Parameters::ConstraintName name, const SplineHolder &splines) const |
| CostPtrVec | GetCost (const Parameters::CostName &id, double weight) const |
| ContraintPtrVec | MakeBaseAccConstraint (const SplineHolder &s) const |
| ContraintPtrVec | MakeBaseRangeOfMotionConstraint (const SplineHolder &s) const |
| std::vector< NodesVariables::Ptr > | MakeBaseVariables () const |
| std::vector< PhaseDurations::Ptr > | MakeContactScheduleVariables () const |
| ContraintPtrVec | MakeDynamicConstraint (const SplineHolder &s) const |
| CostPtrVec | MakeEEMotionCost (double weight) const |
| std::vector < NodesVariablesPhaseBased::Ptr > | MakeEndeffectorVariables () const |
| ContraintPtrVec | MakeForceConstraint () const |
| CostPtrVec | MakeForcesCost (double weight) const |
| std::vector < NodesVariablesPhaseBased::Ptr > | MakeForceVariables () const |
| ContraintPtrVec | MakeRangeOfMotionBoxConstraint (const SplineHolder &s) const |
| ContraintPtrVec | MakeSwingConstraint () const |
| ContraintPtrVec | MakeTerrainConstraint () const |
| ContraintPtrVec | MakeTotalTimeConstraint () const |
A sample combination of variables, cost and constraints.
This is _one_ example of how to combine the variables, constraints and costs provided by this library. Additional variables or constraints can be added to the NLP, or existing elements replaced to find a more powerful/general formulation. This formulation was used to generate the motions described in this paper: https://ieeexplore.ieee.org/document/8283570/
Definition at line 73 of file nlp_formulation.h.
Definition at line 51 of file nlp_formulation.cc.
| virtual towr::NlpFormulation::~NlpFormulation | ( | ) | [virtual] |
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::GetConstraint | ( | Parameters::ConstraintName | name, |
| const SplineHolder & | splines | ||
| ) | const [private] |
Definition at line 212 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::GetConstraints | ( | const SplineHolder & | spline_holder | ) | const |
The ifopt constraints that enforce feasible motions.
| [in] | uses | the fully-constructed splines for initialization of constraints. |
Definition at line 201 of file nlp_formulation.cc.
| NlpFormulation::CostPtrVec towr::NlpFormulation::GetCost | ( | const Parameters::CostName & | id, |
| double | weight | ||
| ) | const [private] |
Definition at line 345 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::GetCosts | ( | ) | const |
The ifopt costs to tune the motion.
Definition at line 334 of file nlp_formulation.cc.
| NlpFormulation::VariablePtrVec towr::NlpFormulation::GetVariableSets | ( | SplineHolder & | spline_holder | ) |
The ifopt variable sets that will be optimized over.
| in/out] | builds fully-constructed splines from the variables. |
Definition at line 64 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeBaseAccConstraint | ( | const SplineHolder & | s | ) | const [private] |
Definition at line 320 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeBaseRangeOfMotionConstraint | ( | const SplineHolder & | s | ) | const [private] |
Definition at line 230 of file nlp_formulation.cc.
| std::vector< NodesVariables::Ptr > towr::NlpFormulation::MakeBaseVariables | ( | ) | const [private] |
Definition at line 96 of file nlp_formulation.cc.
| std::vector< PhaseDurations::Ptr > towr::NlpFormulation::MakeContactScheduleVariables | ( | ) | const [private] |
Definition at line 184 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeDynamicConstraint | ( | const SplineHolder & | s | ) | const [private] |
Definition at line 238 of file nlp_formulation.cc.
| NlpFormulation::CostPtrVec towr::NlpFormulation::MakeEEMotionCost | ( | double | weight | ) | const [private] |
Definition at line 366 of file nlp_formulation.cc.
| std::vector< NodesVariablesPhaseBased::Ptr > towr::NlpFormulation::MakeEndeffectorVariables | ( | ) | const [private] |
Definition at line 128 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeForceConstraint | ( | ) | const [private] |
Definition at line 292 of file nlp_formulation.cc.
| NlpFormulation::CostPtrVec towr::NlpFormulation::MakeForcesCost | ( | double | weight | ) | const [private] |
Definition at line 355 of file nlp_formulation.cc.
| std::vector< NodesVariablesPhaseBased::Ptr > towr::NlpFormulation::MakeForceVariables | ( | ) | const [private] |
Definition at line 159 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeRangeOfMotionBoxConstraint | ( | const SplineHolder & | s | ) | const [private] |
Definition at line 248 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeSwingConstraint | ( | ) | const [private] |
Definition at line 307 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeTerrainConstraint | ( | ) | const [private] |
Definition at line 279 of file nlp_formulation.cc.
| NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeTotalTimeConstraint | ( | ) | const [private] |
Definition at line 265 of file nlp_formulation.cc.
Definition at line 101 of file nlp_formulation.h.
Definition at line 100 of file nlp_formulation.h.
Definition at line 102 of file nlp_formulation.h.
Definition at line 103 of file nlp_formulation.h.
Definition at line 105 of file nlp_formulation.h.
| HeightMap::Ptr towr::NlpFormulation::terrain_ |
Definition at line 104 of file nlp_formulation.h.