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

Constrains the foot position during the swing-phase. More...

#include <swing_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
void InitVariableDependedQuantities (const VariablesPtr &x) override
 SwingConstraint (std::string ee_motion_id)
 Links the swing constraint with current foot variables.
virtual ~SwingConstraint ()

Private Attributes

NodesVariablesPhaseBased::Ptr ee_motion_
std::string ee_motion_id_
std::vector< int > pure_swing_node_ids_
double t_swing_avg_ = 0.3

Detailed Description

Constrains the foot position during the swing-phase.

This avoids very quick swinging of the feet, where the polynomial then leaves the e.g. range-of-motion in between nodes. This constraint can also be used to force a leg lift. However, it is cleanest if the optimization can be performed without this heuristic constraint.

Definition at line 49 of file swing_constraint.h.

Constructor & Destructor Documentation

towr::SwingConstraint::SwingConstraint ( std::string  ee_motion_id)

Links the swing constraint with current foot variables.

ee_motion_idThe name of the foot variables in the optimization.

Definition at line 35 of file

Member Function Documentation

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

Definition at line 87 of file

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

Definition at line 81 of file

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

Definition at line 55 of file

void towr::SwingConstraint::InitVariableDependedQuantities ( const VariablesPtr &  x) [override]

Definition at line 42 of file

Member Data Documentation

NodesVariablesPhaseBased::Ptr towr::SwingConstraint::ee_motion_ [private]

Definition at line 67 of file swing_constraint.h.

std::string towr::SwingConstraint::ee_motion_id_ [private]

Definition at line 69 of file swing_constraint.h.

std::vector<int> towr::SwingConstraint::pure_swing_node_ids_ [private]

Definition at line 71 of file swing_constraint.h.

double towr::SwingConstraint::t_swing_avg_ = 0.3 [private]

Definition at line 68 of file swing_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