Public Member Functions | Private Attributes | List of all members
towr::SplineAccConstraint Class Reference

Ensures continuous accelerations between polynomials. More...

#include <spline_acc_constraint.h>

Inheritance diagram for towr::SplineAccConstraint:
Inheritance graph

Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const override
VecBound GetBounds () const override
VectorXd GetValues () const override
 SplineAccConstraint (const NodeSpline::Ptr &spline, std::string name)
virtual ~SplineAccConstraint ()=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 Attributes

int n_dim_
 dimensions that this polynomial represents (e.g. x,y). More...
int n_junctions_
 polynomial parameterized node values More...
std::string node_variables_id_
NodeSpline::Ptr spline_
 a spline comprised of polynomials More...
std::vector< double > T_
 Duration of each polynomial in spline. More...

Additional Inherited Members

- Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSetPtr
typedef Composite::Ptr VariablesPtr
- Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
typedef std::shared_ptr< ComponentPtr
typedef std::vector< BoundsVecBound
typedef Eigen::VectorXd VectorXd
- Static Public Attributes inherited from ifopt::Component
static const int kSpecifyLater
- Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr GetVariables () const

Detailed Description

Ensures continuous accelerations between polynomials.

This is used to restrict jumps in linear and angular base accelerations, since this would require jumps in foot positions or endeffector forces, which aren't allowed in our formulation.

Definition at line 48 of file spline_acc_constraint.h.

Constructor & Destructor Documentation

towr::SplineAccConstraint::SplineAccConstraint ( const NodeSpline::Ptr spline,
std::string  name 

Definition at line 34 of file

virtual towr::SplineAccConstraint::~SplineAccConstraint ( )

Member Function Documentation

void towr::SplineAccConstraint::FillJacobianBlock ( std::string  var_set,
Jacobian jac 
) const

Implements ifopt::ConstraintSet.

Definition at line 67 of file

SplineAccConstraint::VecBound towr::SplineAccConstraint::GetBounds ( ) const

Implements ifopt::Component.

Definition at line 83 of file

Eigen::VectorXd towr::SplineAccConstraint::GetValues ( ) const

Implements ifopt::Component.

Definition at line 49 of file

Member Data Documentation

int towr::SplineAccConstraint::n_dim_

dimensions that this polynomial represents (e.g. x,y).

Definition at line 62 of file spline_acc_constraint.h.

int towr::SplineAccConstraint::n_junctions_

polynomial parameterized node values

number of junctions between polynomials in spline.

Definition at line 61 of file spline_acc_constraint.h.

std::string towr::SplineAccConstraint::node_variables_id_

Definition at line 59 of file spline_acc_constraint.h.

NodeSpline::Ptr towr::SplineAccConstraint::spline_

a spline comprised of polynomials

Definition at line 58 of file spline_acc_constraint.h.

std::vector<double> towr::SplineAccConstraint::T_

Duration of each polynomial in spline.

Definition at line 63 of file spline_acc_constraint.h.

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

Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16