Public Member Functions | Private Attributes
towr::SplineAccConstraint Class Reference

Ensures continuous accelerations between polynomials. More...

#include <spline_acc_constraint.h>

List of all members.

Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const override
VecBound GetBounds () const override
VectorXd GetValues () const override
 SplineAccConstraint (const NodeSpline::Ptr &spline, std::string name)
virtual ~SplineAccConstraint ()

Private Attributes

int n_dim_
 dimensions that this polynomial represents (e.g. x,y).
int n_junctions_
 polynomial parameterized node values
std::string node_variables_id_
NodeSpline::Ptr spline_
 a spline comprised of polynomials
std::vector< double > T_
 Duration of each polynomial in spline.

Detailed Description

Ensures continuous accelerations between polynomials.

This is used to restrict jumps in linear and angular base accelerations, since this would require jumps in foot positions or endeffector forces, which aren't allowed in our formulation.

Definition at line 48 of file spline_acc_constraint.h.

Constructor & Destructor Documentation

towr::SplineAccConstraint::SplineAccConstraint ( const NodeSpline::Ptr &  spline,
std::string  name 

Definition at line 34 of file

Member Function Documentation

void towr::SplineAccConstraint::FillJacobianBlock ( std::string  var_set,
Jacobian &  jac 
) const [override]

Definition at line 67 of file

SplineAccConstraint::VecBound towr::SplineAccConstraint::GetBounds ( ) const [override]

Definition at line 83 of file

Eigen::VectorXd towr::SplineAccConstraint::GetValues ( ) const [override]

Definition at line 49 of file

Member Data Documentation

dimensions that this polynomial represents (e.g. x,y).

Definition at line 62 of file spline_acc_constraint.h.

polynomial parameterized node values

number of junctions between polynomials in spline.

Definition at line 61 of file spline_acc_constraint.h.

Definition at line 59 of file spline_acc_constraint.h.

NodeSpline::Ptr towr::SplineAccConstraint::spline_ [private]

a spline comprised of polynomials

Definition at line 58 of file spline_acc_constraint.h.

std::vector<double> towr::SplineAccConstraint::T_ [private]

Duration of each polynomial in spline.

Definition at line 63 of file spline_acc_constraint.h.

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

Author(s): Alexander W. Winkler
autogenerated on Mon Apr 15 2019 02:42:32