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

#include <range_of_motion_constraint.h>

Inheritance diagram for towr::RangeOfMotionConstraint:

Public Types
using	EE = uint

using	Vector3d = Eigen::Vector3d

Public Types inherited from towr::TimeDiscretizationConstraint
using	Bounds = ifopt::Bounds

using	VecTimes = std::vector< double >

Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSet >	Ptr

typedef Composite::Ptr	VariablesPtr

Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor >	Jacobian

typedef std::shared_ptr< Component >	Ptr

typedef std::vector< Bounds >	VecBound

typedef Eigen::VectorXd	VectorXd

Public Member Functions
	RangeOfMotionConstraint (const KinematicModel::Ptr &robot_model, double T, double dt, const EE &ee, const SplineHolder &spline_holder)
	Constructs a constraint instance. More...

virtual	~RangeOfMotionConstraint ()=default

Public Member Functions inherited from towr::TimeDiscretizationConstraint
void	FillJacobianBlock (std::string var_set, Jacobian &) const override

VecBound	GetBounds () const override

Eigen::VectorXd	GetValues () const override

	TimeDiscretizationConstraint (double T, double dt, std::string constraint_name)
	Constructs a constraint for ifopt. More...

	TimeDiscretizationConstraint (const VecTimes &dts, std::string name)
	construct a constraint for ifopt. More...

virtual	~TimeDiscretizationConstraint ()=default

Public Member Functions inherited from ifopt::ConstraintSet
	ConstraintSet (int n_constraints, const std::string &name)

Jacobian	GetJacobian () const final

void	LinkWithVariables (const VariablesPtr &x)

virtual	~ConstraintSet ()=default

Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)

std::string	GetName () const

int	GetRows () const

virtual void	Print (double tolerance, int &index_start) const

void	SetRows (int num_rows)

virtual	~Component ()=default

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. More...

void	UpdateConstraintAtInstance (double t, int k, VectorXd &g) const override
	Sets the constraint value a specific time t, corresponding to node k. More...

void	UpdateJacobianAtInstance (double t, int k, std::string, Jacobian &) const override
	Sets Jacobian rows at a specific time t, corresponding to node k. More...

Private Attributes
EulerConverter	base_angular_
	the orientation of the base. More...

NodeSpline::Ptr	base_linear_
	the linear position of the base. More...

EE	ee_

NodeSpline::Ptr	ee_motion_
	the linear position of the endeffectors. More...

Eigen::Vector3d	max_deviation_from_nominal_

Eigen::Vector3d	nominal_ee_pos_B_

Additional Inherited Members
Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater

Protected Member Functions inherited from towr::TimeDiscretizationConstraint
int	GetNumberOfNodes () const

Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr	GetVariables () const

Protected Attributes inherited from towr::TimeDiscretizationConstraint
VecTimes	dts_
	times at which the constraint is evaluated. More...

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 55 of file range_of_motion_constraint.h.

Member Typedef Documentation

using towr::RangeOfMotionConstraint::EE = uint

Definition at line 57 of file range_of_motion_constraint.h.

using towr::RangeOfMotionConstraint::Vector3d = Eigen::Vector3d

Definition at line 58 of file range_of_motion_constraint.h.

Constructor & Destructor Documentation

towr::RangeOfMotionConstraint::RangeOfMotionConstraint	(	const KinematicModel::Ptr &	robot_model,
		double	T,
		double	dt,
		const EE &	ee,
		const SplineHolder &	spline_holder
	)

Constructs a constraint instance.

Parameters

robot_model	The kinematic restrictions of the robot.
T	The total duration of the optimization.
dt	the discretization intervall at which to enforce constraints.
ee	The endeffector for which to constrain the range.
spline_holder	Pointer to the current variables.

Definition at line 35 of file range_of_motion_constraint.cc.

virtual towr::RangeOfMotionConstraint::~RangeOfMotionConstraint ( )

virtualdefault

Member Function Documentation

int towr::RangeOfMotionConstraint::GetRow	(	int	node,
		int	dimension
	)		const

private

Definition at line 53 of file range_of_motion_constraint.cc.

void towr::RangeOfMotionConstraint::UpdateBoundsAtInstance	(	double	t,
		int	k,
		VecBound &	b
	)		const

overrideprivatevirtual

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

Parameters

t	The time along the trajectory to set the bounds.
k	The index of the time t, so t=k*dt

Implements towr::TimeDiscretizationConstraint.

Definition at line 72 of file range_of_motion_constraint.cc.

void towr::RangeOfMotionConstraint::UpdateConstraintAtInstance	(	double	t,
		int	k,
		VectorXd &	g
	)		const

overrideprivatevirtual

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

Parameters

t	The time along the trajectory to set the constraint.
k	The index of the time t, so t=k*dt

Implements towr::TimeDiscretizationConstraint.

Definition at line 59 of file range_of_motion_constraint.cc.

void towr::RangeOfMotionConstraint::UpdateJacobianAtInstance	(	double	t,
		int	k,
		std::string	var_set,
		Jacobian &	jac
	)		const

overrideprivatevirtual

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

Parameters

t	The time along the trajcetory to set the bounds.
k	The index of the time t, so t=k*dt
var_set	The name of the ifopt variables currently being queried for.

Implements towr::TimeDiscretizationConstraint.

Definition at line 84 of file range_of_motion_constraint.cc.