Constraints

Constraints of the trajectory optimization problem. More...

## Classes | |

class | towr::BaseMotionConstraint |

Keeps the 6D base motion in a specified range. More... | |

class | towr::DynamicConstraint |

Ensure that the optimized motion complies with the system dynamics. More... | |

class | towr::ForceConstraint |

Ensures foot force that is unilateral and inside friction cone. More... | |

class | towr::LinearEqualityConstraint |

Calculates the constraint violations for linear constraints. More... | |

class | towr::RangeOfMotionConstraint |

Constrains an endeffector to lie in a box around the nominal stance. More... | |

class | towr::SplineAccConstraint |

Ensures continuous accelerations between polynomials. More... | |

class | towr::SwingConstraint |

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

class | towr::TerrainConstraint |

Ensures the endeffectors always lays on or above terrain height. More... | |

class | towr::TimeDiscretizationConstraint |

Constraints evaluated at discretized times along a trajectory. More... | |

class | towr::TotalDurationConstraint |

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

Constraints of the trajectory optimization problem.

These are the constraint sets that characterize legged locomotion.

Folder: include/towr/constraints