Constrains the foot position during the swing-phase. More...
#include <swing_constraint.h>
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 |
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.
| towr::SwingConstraint::SwingConstraint | ( | std::string | ee_motion_id | ) |
Links the swing constraint with current foot variables.
| ee_motion_id | The name of the foot variables in the optimization. |
Definition at line 35 of file swing_constraint.cc.
| virtual towr::SwingConstraint::~SwingConstraint | ( | ) | [virtual] |
| void towr::SwingConstraint::FillJacobianBlock | ( | std::string | var_set, |
| Jacobian & | jac | ||
| ) | const [override] |
Definition at line 87 of file swing_constraint.cc.
| SwingConstraint::VecBound towr::SwingConstraint::GetBounds | ( | ) | const [override] |
Definition at line 81 of file swing_constraint.cc.
| Eigen::VectorXd towr::SwingConstraint::GetValues | ( | ) | const [override] |
Definition at line 55 of file swing_constraint.cc.
| void towr::SwingConstraint::InitVariableDependedQuantities | ( | const VariablesPtr & | x | ) | [override] |
Definition at line 42 of file swing_constraint.cc.
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.