Holds the parameters to tune the optimization problem. More...
#include <parameters.h>
Public Member Functions | |
| VecTimes | GetBasePolyDurations () const |
| The durations of each base polynomial in the spline (lin+ang). | |
| int | GetEECount () const |
| The number of endeffectors. | |
| int | GetPhaseCount (EEID ee) const |
| The number of phases allowed for endeffector ee. | |
| bool | OptimizeTimings () const |
| True if the phase durations should be optimized over. | |
| Parameters () | |
| Default parameters to use. | |
| virtual | ~Parameters () |
Public Attributes | |
| UsedConstraints | constraints_ |
| Which constraints should be used in the optimization problem. | |
| CostWeights | costs_ |
| Which costs should be used in the optimiation problem. | |
| double | dt_constraint_base_motion_ |
| Interval at which the base motion constraint is enforced. | |
| double | dt_constraint_dynamic_ |
| Interval at which the dynamic constraint is enforced. | |
| double | dt_constraint_range_of_motion_ |
| Interval at which the range of motion constraint is enforced. | |
| double | duration_base_polynomial_ |
| Fixed duration of each cubic polynomial describing the base motion. | |
| std::vector< bool > | ee_in_contact_at_start_ |
| True if the foot is initially in contact with the terrain. | |
| std::vector< VecTimes > | ee_phase_durations_ |
| Number and initial duration of each foot's swing and stance phases. | |
| int | ee_polynomials_per_swing_phase_ |
| Number of polynomials to parameterize foot movement during swing phases. | |
| double | force_limit_in_norm_ |
| The maximum allowable force [N] in normal direction. | |
| int | force_polynomials_per_stance_phase_ |
| Number of polynomials to parameterize each contact force during stance phase. | |
| double | max_phase_duration_ |
| When optimizing over phase duration, this is is maximum allowed. | |
| double | min_phase_duration_ |
| When optimizing over phase duration, this is the minimum allowed. | |
| double | t_total_ |
| Total duration [s] of the walking motion. | |
Holds the parameters to tune the optimization problem.
Definition at line 45 of file parameters.h.
Default parameters to use.
Definition at line 36 of file parameters.cc.
| virtual towr::Parameters::~Parameters | ( | ) | [virtual] |
| Parameters::VecTimes towr::Parameters::GetBasePolyDurations | ( | ) | const |
The durations of each base polynomial in the spline (lin+ang).
Definition at line 87 of file parameters.cc.
| int towr::Parameters::GetEECount | ( | ) | const |
The number of endeffectors.
Definition at line 111 of file parameters.cc.
| int towr::Parameters::GetPhaseCount | ( | EEID | ee | ) | const |
The number of phases allowed for endeffector ee.
Definition at line 105 of file parameters.cc.
| bool towr::Parameters::OptimizeTimings | ( | ) | const |
True if the phase durations should be optimized over.
Definition at line 79 of file parameters.cc.
| UsedConstraints towr::Parameters::constraints_ |
Which constraints should be used in the optimization problem.
Definition at line 59 of file parameters.h.
| CostWeights towr::Parameters::costs_ |
Which costs should be used in the optimiation problem.
Definition at line 62 of file parameters.h.
Interval at which the base motion constraint is enforced.
Definition at line 74 of file parameters.h.
Interval at which the dynamic constraint is enforced.
Definition at line 68 of file parameters.h.
Interval at which the range of motion constraint is enforced.
Definition at line 71 of file parameters.h.
Fixed duration of each cubic polynomial describing the base motion.
Definition at line 77 of file parameters.h.
| std::vector<bool> towr::Parameters::ee_in_contact_at_start_ |
True if the foot is initially in contact with the terrain.
Definition at line 83 of file parameters.h.
| std::vector<VecTimes> towr::Parameters::ee_phase_durations_ |
Number and initial duration of each foot's swing and stance phases.
Definition at line 80 of file parameters.h.
Number of polynomials to parameterize foot movement during swing phases.
Definition at line 92 of file parameters.h.
The maximum allowable force [N] in normal direction.
Definition at line 98 of file parameters.h.
Number of polynomials to parameterize each contact force during stance phase.
Definition at line 95 of file parameters.h.
When optimizing over phase duration, this is is maximum allowed.
Definition at line 89 of file parameters.h.
When optimizing over phase duration, this is the minimum allowed.
Definition at line 86 of file parameters.h.
| double towr::Parameters::t_total_ |
Total duration [s] of the walking motion.
Definition at line 65 of file parameters.h.