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

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

#include <range_of_motion_constraint.h>

Inheritance diagram for towr::RangeOfMotionConstraint:
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List of all members.

Public Member Functions

 RangeOfMotionConstraint (const KinematicModel::Ptr &robot_model, const Parameters &params, const EE &ee, const SplineHolder &spline_holder)
 Constructs a constraint instance.
virtual ~RangeOfMotionConstraint ()

Private Member Functions

int GetRow (int node, int dimension) const
void UpdateBoundsAtInstance (double t, int k, VecBound &) const override
 Sets upper/lower bound a specific time t, corresponding to node k.
void UpdateConstraintAtInstance (double t, int k, VectorXd &g) const override
 Sets the constraint value a specific time t, corresponding to node k.
virtual void UpdateJacobianAtInstance (double t, int k, std::string, Jacobian &) const override
 Sets Jacobian rows at a specific time t, corresponding to node k.

Private Attributes

EulerConverter base_angular_
 the orientation of the base.
NodeSpline::Ptr base_linear_
 the linear position of the base.
EE ee_
NodeSpline::Ptr ee_motion_
 the linear position of the endeffectors.
Eigen::Vector3d max_deviation_from_nominal_
Eigen::Vector3d nominal_ee_pos_B_

Detailed Description

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

These constraints are necessary to avoid configurations that are outside the kinematic reach of the robot. The constraint is defined by Cartesian estimates of the reachability of each endeffector.

This constraint calculates the position of of the contact expressed in the current CoM frame and constrains it to lie in a box around the nominal/ natural contact position for that leg.

Definition at line 54 of file range_of_motion_constraint.h.


Constructor & Destructor Documentation

towr::RangeOfMotionConstraint::RangeOfMotionConstraint ( const KinematicModel::Ptr &  robot_model,
const Parameters params,
const EE &  ee,
const SplineHolder spline_holder 
)

Constructs a constraint instance.

Parameters:
robot_modelThe kinematic restrictions of the robot.
paramsParameters defining the optimization problem.
eeThe endeffector for which to constrain the range.
spline_holderPointer to the current variables.

Definition at line 35 of file range_of_motion_constraint.cc.


Member Function Documentation

int towr::RangeOfMotionConstraint::GetRow ( int  node,
int  dimension 
) const [private]

Definition at line 55 of file range_of_motion_constraint.cc.

void towr::RangeOfMotionConstraint::UpdateBoundsAtInstance ( double  t,
int  k,
VecBound &  b 
) const [override, private, virtual]

Sets upper/lower bound a specific time t, corresponding to node k.

Parameters:
tThe time along the trajectory to set the bounds.
kThe index of the time t, so t=k*dt
in/out]b The complete vector of bounds, for which the corresponding row must be set.

Implements towr::TimeDiscretizationConstraint.

Definition at line 74 of file range_of_motion_constraint.cc.

void towr::RangeOfMotionConstraint::UpdateConstraintAtInstance ( double  t,
int  k,
VectorXd &  g 
) const [override, private, virtual]

Sets the constraint value a specific time t, corresponding to node k.

Parameters:
tThe time along the trajectory to set the constraint.
kThe index of the time t, so t=k*dt
in/out]g The complete vector of constraint values, for which the corresponding row must be filled.

Implements towr::TimeDiscretizationConstraint.

Definition at line 61 of file range_of_motion_constraint.cc.

void towr::RangeOfMotionConstraint::UpdateJacobianAtInstance ( double  t,
int  k,
std::string  var_set,
Jacobian &  jac 
) const [override, private, virtual]

Sets Jacobian rows at a specific time t, corresponding to node k.

Parameters:
tThe time along the trajcetory to set the bounds.
kThe index of the time t, so t=k*dt
var_setThe name of the ifopt variables currently being queried for.
in/out]jac The complete Jacobian, for which the corresponding row and columns must be set.

Implements towr::TimeDiscretizationConstraint.

Definition at line 86 of file range_of_motion_constraint.cc.


Member Data Documentation

the orientation of the base.

Definition at line 74 of file range_of_motion_constraint.h.

the linear position of the base.

Definition at line 73 of file range_of_motion_constraint.h.

Definition at line 79 of file range_of_motion_constraint.h.

NodeSpline::Ptr towr::RangeOfMotionConstraint::ee_motion_ [private]

the linear position of the endeffectors.

Definition at line 75 of file range_of_motion_constraint.h.

Definition at line 77 of file range_of_motion_constraint.h.

Definition at line 78 of file range_of_motion_constraint.h.


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


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44