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

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

#include <terrain_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
virtual void InitVariableDependedQuantities (const VariablesPtr &x) override
 TerrainConstraint (const HeightMap::Ptr &terrain, std::string ee_motion_id)
 Constructs a terrain constraint.
virtual ~TerrainConstraint ()

Private Attributes

PhaseNodes::Ptr ee_motion_
 the position of the endeffector.
std::string ee_motion_id_
 the name of the endeffector variable set.
std::vector< int > node_ids_
 the indices of the nodes constrained.
HeightMap::Ptr terrain_
 the height map of the current terrain.

Detailed Description

Ensures the endeffectors always lays on or above terrain height.

When using interior point solvers such as IPOPT to solve the problem, this constraint also keeps the foot nodes far from the terrain, causing a leg lifting during swing-phase. This is convenient.

Attention: This is enforced only at the spline nodes.

Definition at line 49 of file terrain_constraint.h.


Constructor & Destructor Documentation

towr::TerrainConstraint::TerrainConstraint ( const HeightMap::Ptr &  terrain,
std::string  ee_motion_id 
)

Constructs a terrain constraint.

Parameters:
terrainThe terrain height value and slope for each position x,y.
ee_motion_idThe name of the endeffector variable set.

Definition at line 36 of file terrain_constraint.cc.


Member Function Documentation

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

Definition at line 91 of file terrain_constraint.cc.

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

Definition at line 73 of file terrain_constraint.cc.

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

Definition at line 58 of file terrain_constraint.cc.

void towr::TerrainConstraint::InitVariableDependedQuantities ( const VariablesPtr &  x) [override, virtual]

Definition at line 45 of file terrain_constraint.cc.


Member Data Documentation

PhaseNodes::Ptr towr::TerrainConstraint::ee_motion_ [private]

the position of the endeffector.

Definition at line 68 of file terrain_constraint.h.

the name of the endeffector variable set.

Definition at line 71 of file terrain_constraint.h.

std::vector<int> towr::TerrainConstraint::node_ids_ [private]

the indices of the nodes constrained.

Definition at line 72 of file terrain_constraint.h.

HeightMap::Ptr towr::TerrainConstraint::terrain_ [private]

the height map of the current terrain.

Definition at line 69 of file terrain_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