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

Makes sure all the phase durations sum up to the total time. More...

#include <total_duration_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
 TotalDurationConstraint (double T_total, int ee)
 ~TotalDurationConstraint ()

Private Attributes

EE ee_
PhaseDurations::Ptr phase_durations_
double T_total_

Detailed Description

Makes sure all the phase durations sum up to the total time.

When optimizing over the phase durations of each foot, this constraint makes sure that: t_phase_1 + ... + t_phase_(n-1) = T_total.

Attention: At this point last phase duration is not an optimization variable and a way should be found to optimize over all phases while setting the total duration by constraint and not through hard parameterization.

Definition at line 52 of file total_duration_constraint.h.

Constructor & Destructor Documentation

Definition at line 36 of file

Member Function Documentation

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

Definition at line 67 of file

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

Definition at line 58 of file

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

Definition at line 50 of file

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

Definition at line 44 of file

Member Data Documentation

Definition at line 68 of file total_duration_constraint.h.

PhaseDurations::Ptr towr::TotalDurationConstraint::phase_durations_ [private]

Definition at line 66 of file total_duration_constraint.h.

Definition at line 67 of file total_duration_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