towr::NlpFormulation Class Reference

A sample combination of variables, cost and constraints. More...

#include <nlp_formulation.h>

Public Types
using	ContraintPtrVec = std::vector< ifopt::ConstraintSet::Ptr >
using	CostPtrVec = std::vector< ifopt::CostTerm::Ptr >
using	EEPos = std::vector< Eigen::Vector3d >
using	VariablePtrVec = std::vector< ifopt::VariableSet::Ptr >
using	Vector3d = Eigen::Vector3d

Public Member Functions
ContraintPtrVec	GetConstraints (const SplineHolder &spline_holder) const
	The ifopt constraints that enforce feasible motions. More...
ContraintPtrVec	GetCosts () const
	The ifopt costs to tune the motion. More...
VariablePtrVec	GetVariableSets (SplineHolder &spline_holder)
	The ifopt variable sets that will be optimized over. More...
	NlpFormulation ()
virtual	~NlpFormulation ()=default

Public Attributes
BaseState	final_base_
BaseState	initial_base_
EEPos	initial_ee_W_
RobotModel	model_
Parameters	params_
HeightMap::Ptr	terrain_

Private Member Functions
ContraintPtrVec	GetConstraint (Parameters::ConstraintName name, const SplineHolder &splines) const
CostPtrVec	GetCost (const Parameters::CostName &id, double weight) const
ContraintPtrVec	MakeBaseAccConstraint (const SplineHolder &s) const
ContraintPtrVec	MakeBaseRangeOfMotionConstraint (const SplineHolder &s) const
std::vector< NodesVariables::Ptr >	MakeBaseVariables () const
std::vector< PhaseDurations::Ptr >	MakeContactScheduleVariables () const
ContraintPtrVec	MakeDynamicConstraint (const SplineHolder &s) const
CostPtrVec	MakeEEMotionCost (double weight) const
std::vector< NodesVariablesPhaseBased::Ptr >	MakeEndeffectorVariables () const
ContraintPtrVec	MakeForceConstraint () const
CostPtrVec	MakeForcesCost (double weight) const
std::vector< NodesVariablesPhaseBased::Ptr >	MakeForceVariables () const
ContraintPtrVec	MakeRangeOfMotionBoxConstraint (const SplineHolder &s) const
ContraintPtrVec	MakeSwingConstraint () const
ContraintPtrVec	MakeTerrainConstraint () const
ContraintPtrVec	MakeTotalTimeConstraint () const

Detailed Description

A sample combination of variables, cost and constraints.

This is one example of how to combine the variables, constraints and costs provided by this library. Additional variables or constraints can be added to the NLP, or existing elements replaced to find a more powerful/general formulation. This formulation was used to generate the motions described in this paper: https://ieeexplore.ieee.org/document/8283570/

Definition at line 73 of file nlp_formulation.h.

Member Typedef Documentation

using towr::NlpFormulation::ContraintPtrVec = std::vector<ifopt::ConstraintSet::Ptr>

Definition at line 76 of file nlp_formulation.h.

using towr::NlpFormulation::CostPtrVec = std::vector<ifopt::CostTerm::Ptr>

Definition at line 77 of file nlp_formulation.h.

using towr::NlpFormulation::EEPos = std::vector<Eigen::Vector3d>

Definition at line 78 of file nlp_formulation.h.

using towr::NlpFormulation::VariablePtrVec = std::vector<ifopt::VariableSet::Ptr>

Definition at line 75 of file nlp_formulation.h.

using towr::NlpFormulation::Vector3d = Eigen::Vector3d

Definition at line 79 of file nlp_formulation.h.

Constructor & Destructor Documentation

towr::NlpFormulation::NlpFormulation

(

)

Definition at line 51 of file nlp_formulation.cc.

virtual towr::NlpFormulation::~NlpFormulation ( )

virtualdefault

Member Function Documentation

NlpFormulation::ContraintPtrVec towr::NlpFormulation::GetConstraint ( Parameters::ConstraintName  name, const SplineHolder &  splines  ) const

private

Definition at line 212 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::GetConstraints

(

const SplineHolder &

spline_holder

)

const

The ifopt constraints that enforce feasible motions.

Parameters

[in]

uses

the fully-constructed splines for initialization of constraints.

Definition at line 201 of file nlp_formulation.cc.

NlpFormulation::CostPtrVec towr::NlpFormulation::GetCost ( const Parameters::CostName &  id, double  weight  ) const

private

Definition at line 345 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::GetCosts

(

)

const

The ifopt costs to tune the motion.

Definition at line 334 of file nlp_formulation.cc.

NlpFormulation::VariablePtrVec towr::NlpFormulation::GetVariableSets

(

SplineHolder &

spline_holder

)

The ifopt variable sets that will be optimized over.

Parameters

Definition at line 64 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeBaseAccConstraint ( const SplineHolder &  s ) const

private

Definition at line 320 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeBaseRangeOfMotionConstraint ( const SplineHolder &  s ) const

private

Definition at line 230 of file nlp_formulation.cc.

std::vector< NodesVariables::Ptr > towr::NlpFormulation::MakeBaseVariables ( ) const

private

Definition at line 96 of file nlp_formulation.cc.

std::vector< PhaseDurations::Ptr > towr::NlpFormulation::MakeContactScheduleVariables ( ) const

private

Definition at line 184 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeDynamicConstraint ( const SplineHolder &  s ) const

private

Definition at line 238 of file nlp_formulation.cc.

NlpFormulation::CostPtrVec towr::NlpFormulation::MakeEEMotionCost ( double  weight ) const

private

Definition at line 366 of file nlp_formulation.cc.

std::vector< NodesVariablesPhaseBased::Ptr > towr::NlpFormulation::MakeEndeffectorVariables ( ) const

private

Definition at line 128 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeForceConstraint ( ) const

private

Definition at line 292 of file nlp_formulation.cc.

NlpFormulation::CostPtrVec towr::NlpFormulation::MakeForcesCost ( double  weight ) const

private

Definition at line 355 of file nlp_formulation.cc.

std::vector< NodesVariablesPhaseBased::Ptr > towr::NlpFormulation::MakeForceVariables ( ) const

private

Definition at line 159 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeRangeOfMotionBoxConstraint ( const SplineHolder &  s ) const

private

Definition at line 248 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeSwingConstraint ( ) const

private

Definition at line 307 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeTerrainConstraint ( ) const

private

Definition at line 279 of file nlp_formulation.cc.

NlpFormulation::ContraintPtrVec towr::NlpFormulation::MakeTotalTimeConstraint ( ) const

private

Definition at line 265 of file nlp_formulation.cc.

Member Data Documentation

BaseState towr::NlpFormulation::final_base_

Definition at line 101 of file nlp_formulation.h.

BaseState towr::NlpFormulation::initial_base_

Definition at line 100 of file nlp_formulation.h.

EEPos towr::NlpFormulation::initial_ee_W_

Definition at line 102 of file nlp_formulation.h.

RobotModel towr::NlpFormulation::model_

Definition at line 103 of file nlp_formulation.h.

Parameters towr::NlpFormulation::params_

Definition at line 105 of file nlp_formulation.h.

HeightMap::Ptr towr::NlpFormulation::terrain_

Definition at line 104 of file nlp_formulation.h.

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

• nlp_formulation.h
• nlp_formulation.cc