Nodes that are associated to either swing or stance phases. More...

#include <phase_nodes.h>

Inheritance diagram for towr::PhaseNodes:

Classes
struct	PolyInfo
	Holds semantic information each polynomial in spline. More...
Public Types
enum	Type { Force, Motion }
Public Member Functions
virtual VecDurations	ConvertPhaseToPolyDurations (const VecDurations &phase_durations) const
	Converts durations of swing and stance phases to polynomial durations.
virtual double	GetDerivativeOfPolyDurationWrtPhaseDuration (int polynomial_id) const
	How a change in the phase duration affects the polynomial duration.
NodeIds	GetIndicesOfNonConstantNodes () const
	The indices of those nodes that don't belong to a constant phase.
int	GetNodeIDAtStartOfPhase (int phase) const
virtual std::vector< IndexInfo >	GetNodeInfoAtOptIndex (int idx) const override
	The node information that the optimization index represents.
virtual int	GetNumberOfPrevPolynomialsInPhase (int polynomial_id) const
	How many polynomials in the current phase come before.
int	GetPhase (int node_id) const
Eigen::Vector3d	GetValueAtStartOfPhase (int phase) const
virtual bool	IsConstantNode (int node_id) const
	node is constant if either left or right polynomial belongs to a constant phase.
virtual bool	IsInConstantPhase (int polynomial_id) const
	Is the polynomial constant, so not changing the value.
	PhaseNodes (int phase_count, bool in_contact_start, const std::string &var_name, int n_polys_in_changing_phase, Type type)
	Constructs a variable set of node variables.
virtual	~PhaseNodes ()
Private Member Functions
std::vector< int >	GetAdjacentPolyIds (int node_id) const
int	GetPolyIDAtStartOfPhase (int phase) const
void	SetBoundsEEForce ()
	Sets the bounds on the node variables to model foot forces.
void	SetBoundsEEMotion ()
	Sets the bounds on the node variables to model foot motions.
Static Private Member Functions
static std::map< OptNodeIs, NodeIds >	GetOptNodeToNodeMappings (const std::vector< PolyInfo > &)
Private Attributes
std::map< OptNodeIs, NodeIds >	optnode_to_node_
std::vector< PolyInfo >	polynomial_info_

Detailed Description

Nodes that are associated to either swing or stance phases.

In the node values, not every node is an optimization variable, but two consecutive nodes forming a e.g. stance position spline belong to the same optimization variable. This is because a foot in stance cannot move (or a force in flight must be zero). This makes the number of optimization variables less than the total node values.

Definition at line 46 of file phase_nodes.h.

Member Enumeration Documentation

enum towr::PhaseNodes::Type

Enumerator:

Force
Motion

Definition at line 52 of file phase_nodes.h.

Constructor & Destructor Documentation

towr::PhaseNodes::PhaseNodes	(	int	phase_count,
		bool	in_contact_start,
		const std::string &	var_name,
		int	n_polys_in_changing_phase,
		Type	type
	)

Constructs a variable set of node variables.

Parameters:

phase_count	The number of phases (swing, stance) to represent.
in_contact__start	Whether the first node belongs to a stance phase.
var_name	The name given to this set of optimization variables.
n_polys_in_changing_phase	How many polynomials should be used to paramerize each non-constant phase.
type	These nodes represent either force evolution or foot motions.

Definition at line 61 of file phase_nodes.cc.

virtual towr::PhaseNodes::~PhaseNodes ( ) [virtual]

Member Function Documentation

PhaseNodes::VecDurations towr::PhaseNodes::ConvertPhaseToPolyDurations ( const VecDurations & phase_durations ) const [virtual]

Converts durations of swing and stance phases to polynomial durations.

Parameters:

phase_durations The durations of alternating swing and stance phases.

Returns:: The durations of each polynomial, where multiple polynomials can be used to represent one phase.

Definition at line 84 of file phase_nodes.cc.

std::vector< int > towr::PhaseNodes::GetAdjacentPolyIds ( int node_id ) const [private]

Definition at line 219 of file phase_nodes.cc.

double towr::PhaseNodes::GetDerivativeOfPolyDurationWrtPhaseDuration ( int polynomial_id ) const [virtual]

How a change in the phase duration affects the polynomial duration.

Parameters:

polynomial_id The ID of the polynomial within the spline.

If a phase is represented by multiple (3) equally timed polynomials, then T_poly = 1/3 * T_phase. The derivative of T_poly is then 1/3.

Definition at line 97 of file phase_nodes.cc.

PhaseNodes::NodeIds towr::PhaseNodes::GetIndicesOfNonConstantNodes ( ) const

The indices of those nodes that don't belong to a constant phase.

For forces nodes these are the stance phases (can produce force), and for feet these are the swing phases (can move end-effector).

Definition at line 175 of file phase_nodes.cc.

int towr::PhaseNodes::GetNodeIDAtStartOfPhase ( int phase ) const

Returns:: the ID of the first node in the phase.

Definition at line 212 of file phase_nodes.cc.

std::vector< PhaseNodes::IndexInfo > towr::PhaseNodes::GetNodeInfoAtOptIndex ( int idx ) const [override, virtual]

The node information that the optimization index represents.

Parameters:

idx	The index (=row) of the node optimization variable.

Returns:: Semantic information on what that optimization variables means.

One optimization variables can also represent multiple nodes in the spline if they are always equal (e.g. constant phases). This is why this function returns a vector.

Implements towr::Nodes.

Definition at line 131 of file phase_nodes.cc.

int towr::PhaseNodes::GetNumberOfPrevPolynomialsInPhase ( int polynomial_id ) const [virtual]

How many polynomials in the current phase come before.

Parameters:

polynomial_id The ID of the polynomial within the spline.

If a phase is represented by multiple (3) polynomials, and the current polynomial corresponds to the third one in the phase, then 2 polynomials come before it.

Definition at line 104 of file phase_nodes.cc.

std::map< PhaseNodes::OptNodeIs, PhaseNodes::NodeIds > towr::PhaseNodes::GetOptNodeToNodeMappings ( const std::vector< PolyInfo > & polynomial_info ) [static, private]

Definition at line 110 of file phase_nodes.cc.

int towr::PhaseNodes::GetPhase ( int node_id ) const

Returns:: The phase ID belonging to node with node_id.

Only makes sense if left and right polynomial belong to same phase.

Definition at line 187 of file phase_nodes.cc.

int towr::PhaseNodes::GetPolyIDAtStartOfPhase ( int phase ) const [private]

Returns:: the ID of the polynomial at the start of phase phase.

Definition at line 196 of file phase_nodes.cc.

Eigen::Vector3d towr::PhaseNodes::GetValueAtStartOfPhase ( int phase ) const

Returns:: the value of the first node of the phase.

Definition at line 205 of file phase_nodes.cc.

bool towr::PhaseNodes::IsConstantNode ( int node_id ) const [virtual]

node is constant if either left or right polynomial belongs to a constant phase.

Definition at line 155 of file phase_nodes.cc.

bool towr::PhaseNodes::IsInConstantPhase ( int polynomial_id ) const [virtual]

Is the polynomial constant, so not changing the value.

Parameters:

polynomial_id The ID of the polynomial within the spline.

Definition at line 169 of file phase_nodes.cc.

void towr::PhaseNodes::SetBoundsEEForce ( ) [private]

Sets the bounds on the node variables to model foot forces.

For this the force for nodes representing swing-phases is set to zero.

Definition at line 267 of file phase_nodes.cc.

void towr::PhaseNodes::SetBoundsEEMotion ( ) [private]

Sets the bounds on the node variables to model foot motions.

For this the velocity of the stance nodes is bounds to zero.

Definition at line 237 of file phase_nodes.cc.

Member Data Documentation

std::map<OptNodeIs, NodeIds > towr::PhaseNodes::optnode_to_node_ [private]

Definition at line 155 of file phase_nodes.h.

std::vector<PolyInfo> towr::PhaseNodes::polynomial_info_ [private]

Definition at line 150 of file phase_nodes.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation