towr::NlpFactory Class Reference

#include <nlp_factory.h>

List of all members.

Public Member Functions
ContraintPtrVec	GetConstraints () const
ContraintPtrVec	GetCosts () const
VariablePtrVec	GetVariableSets ()
	NlpFactory ()
virtual	~NlpFactory ()
Public Attributes
BaseState	final_base_
BaseState	initial_base_
EEPos	initial_ee_W_
RobotModel	model_
Parameters	params_
SplineHolder	spline_holder_
HeightMap::Ptr	terrain_
Private Member Functions
ContraintPtrVec	GetConstraint (ConstraintName name) const
CostPtrVec	GetCost (const CostName &id, double weight) const
ContraintPtrVec	MakeBaseAccConstraint () const
ContraintPtrVec	MakeBaseRangeOfMotionConstraint () const
std::vector< Nodes::Ptr >	MakeBaseVariables () const
std::vector< PhaseDurations::Ptr >	MakeContactScheduleVariables () const
ContraintPtrVec	MakeDynamicConstraint () const
std::vector< PhaseNodes::Ptr >	MakeEndeffectorVariables () const
ContraintPtrVec	MakeForceConstraint () const
CostPtrVec	MakeForcesCost (double weight) const
std::vector< PhaseNodes::Ptr >	MakeForceVariables () const
ContraintPtrVec	MakeRangeOfMotionBoxConstraint () const
ContraintPtrVec	MakeSwingConstraint () const
ContraintPtrVec	MakeTerrainConstraint () const
ContraintPtrVec	MakeTotalTimeConstraint () const

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Detailed Description

Builds variables, cost and constraints for the legged locomotion problem.

Abstracts the entire problem of Trajectory Optimization for walking robots into the formulation of variables, constraints and cost, solvable by any NLP solver.

Definition at line 51 of file nlp_factory.h.

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Constructor & Destructor Documentation

towr::NlpFactory::NlpFactory

(

)

virtual towr::NlpFactory::~NlpFactory

(

)

[virtual]

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Member Function Documentation

NlpFactory::ContraintPtrVec towr::NlpFactory::GetConstraint

(

ConstraintName

name

)

const [private]

Definition at line 206 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::GetConstraints

(

)

const

Returns:

The ifopt constraints that enforce feasible motions.

Definition at line 195 of file nlp_factory.cc.

NlpFactory::CostPtrVec towr::NlpFactory::GetCost	(	const CostName &	id,
		double	weight
	)		const [private]

Definition at line 334 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::GetCosts

(

)

const

Returns:

The ifopt costs to tune the motion.

Definition at line 323 of file nlp_factory.cc.

NlpFactory::VariablePtrVec towr::NlpFactory::GetVariableSets

(

)

Returns:

The ifopt variable sets that will be optimized over.

Definition at line 51 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeBaseAccConstraint

(

)

const [private]

Definition at line 309 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeBaseRangeOfMotionConstraint

(

)

const [private]

Definition at line 223 of file nlp_factory.cc.

std::vector< Nodes::Ptr > towr::NlpFactory::MakeBaseVariables

(

)

const [private]

Definition at line 82 of file nlp_factory.cc.

std::vector< PhaseDurations::Ptr > towr::NlpFactory::MakeContactScheduleVariables

(

)

const [private]

Definition at line 177 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeDynamicConstraint

(

)

const [private]

Definition at line 229 of file nlp_factory.cc.

std::vector< PhaseNodes::Ptr > towr::NlpFactory::MakeEndeffectorVariables

(

)

const [private]

Definition at line 108 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeForceConstraint

(

)

const [private]

Definition at line 281 of file nlp_factory.cc.

NlpFactory::CostPtrVec towr::NlpFactory::MakeForcesCost

(

double

weight

)

const [private]

Definition at line 343 of file nlp_factory.cc.

std::vector< PhaseNodes::Ptr > towr::NlpFactory::MakeForceVariables

(

)

const [private]

Definition at line 150 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeRangeOfMotionBoxConstraint

(

)

const [private]

Definition at line 238 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeSwingConstraint

(

)

const [private]

Definition at line 296 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeTerrainConstraint

(

)

const [private]

Definition at line 268 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeTotalTimeConstraint

(

)

const [private]

Definition at line 254 of file nlp_factory.cc.

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Member Data Documentation

BaseState towr::NlpFactory::final_base_

Definition at line 79 of file nlp_factory.h.

BaseState towr::NlpFactory::initial_base_

Definition at line 78 of file nlp_factory.h.

EEPos towr::NlpFactory::initial_ee_W_

Definition at line 80 of file nlp_factory.h.

RobotModel towr::NlpFactory::model_

Definition at line 81 of file nlp_factory.h.

Parameters towr::NlpFactory::params_

Definition at line 83 of file nlp_factory.h.

SplineHolder towr::NlpFactory::spline_holder_

Definition at line 85 of file nlp_factory.h.

HeightMap::Ptr towr::NlpFactory::terrain_

Definition at line 82 of file nlp_factory.h.

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

• nlp_factory.h
• nlp_factory.cc