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.

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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.

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Constructor & Destructor Documentation

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

Definition at line 34 of file spline_acc_constraint.cc.

virtual towr::SplineAccConstraint::~SplineAccConstraint

(

)

[virtual]

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Member Function Documentation

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

Definition at line 67 of file spline_acc_constraint.cc.

SplineAccConstraint::VecBound towr::SplineAccConstraint::GetBounds

(

)

const [override]

Definition at line 83 of file spline_acc_constraint.cc.

Eigen::VectorXd towr::SplineAccConstraint::GetValues

(

)

const [override]

Definition at line 49 of file spline_acc_constraint.cc.

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Member Data Documentation

int towr::SplineAccConstraint::n_dim_ [private]

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

Definition at line 62 of file spline_acc_constraint.h.

int towr::SplineAccConstraint::n_junctions_ [private]

polynomial parameterized node values

number of junctions between polynomials in spline.

Definition at line 61 of file spline_acc_constraint.h.

std::string towr::SplineAccConstraint::node_variables_id_ [private]

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.

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

• spline_acc_constraint.h
• spline_acc_constraint.cc