swing_constraint.h
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
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00029 
00030 #ifndef TOWR_CONSTRAINTS_SWING_CONSTRAINT_H_
00031 #define TOWR_CONSTRAINTS_SWING_CONSTRAINT_H_
00032 
00033 #include <ifopt/constraint_set.h>
00034 
00035 #include <towr/variables/phase_nodes.h>
00036 
00037 namespace towr {
00038 
00047 class SwingConstraint : public ifopt::ConstraintSet {
00048 public:
00049   using Vector2d = Eigen::Vector2d;
00050 
00055   SwingConstraint (std::string ee_motion_id);
00056   virtual ~SwingConstraint () = default;
00057 
00058   VectorXd GetValues() const override;
00059   VecBound GetBounds() const override;
00060   void FillJacobianBlock (std::string var_set, Jacobian&) const override;
00061 
00062   virtual void InitVariableDependedQuantities(const VariablesPtr& x) override;
00063 
00064 private:
00065   PhaseNodes::Ptr ee_motion_;
00066   double t_swing_avg_ = 0.3;
00067   std::string ee_motion_id_;
00068 //  double swing_height_in_world_ = 0.10; //  hacky way to lift legs
00069 
00070   std::vector<int> pure_swing_node_ids_;
00071 };
00072 
00073 } /* namespace towr */
00074 
00075 #endif /* TOWR_CONSTRAINTS_SWING_CONSTRAINT_H_ */


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