towr::SwingConstraint Class Reference

Constrains the foot position during the swing-phase. More...

#include <swing_constraint.h>

Inheritance diagram for towr::SwingConstraint:

Public Types
using	Vector2d = Eigen::Vector2d
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
void	FillJacobianBlock (std::string var_set, Jacobian &) const override
VecBound	GetBounds () const override
VectorXd	GetValues () const override
void	InitVariableDependedQuantities (const VariablesPtr &x) override
	SwingConstraint (std::string ee_motion_id)
	Links the swing constraint with current foot variables. More...
virtual	~SwingConstraint ()=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
NodesVariablesPhaseBased::Ptr	ee_motion_
std::string	ee_motion_id_
std::vector< int >	pure_swing_node_ids_
double	t_swing_avg_ = 0.3

Additional Inherited Members
Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater
Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr	GetVariables () const

Detailed Description

Constrains the foot position during the swing-phase.

This avoids very quick swinging of the feet, where the polynomial then leaves the e.g. range-of-motion in between nodes. This constraint can also be used to force a leg lift. However, it is cleanest if the optimization can be performed without this heuristic constraint.

Definition at line 49 of file swing_constraint.h.

Member Typedef Documentation

using towr::SwingConstraint::Vector2d = Eigen::Vector2d

Definition at line 51 of file swing_constraint.h.

Constructor & Destructor Documentation

towr::SwingConstraint::SwingConstraint

(

std::string

ee_motion_id

)

Links the swing constraint with current foot variables.

Parameters

ee_motion_id

The name of the foot variables in the optimization.

Definition at line 35 of file swing_constraint.cc.

virtual towr::SwingConstraint::~SwingConstraint ( )

virtualdefault

Member Function Documentation

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

overridevirtual

Implements ifopt::ConstraintSet.

Definition at line 87 of file swing_constraint.cc.

SwingConstraint::VecBound towr::SwingConstraint::GetBounds ( ) const

overridevirtual

Implements ifopt::Component.

Definition at line 81 of file swing_constraint.cc.

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

overridevirtual

Implements ifopt::Component.

Definition at line 55 of file swing_constraint.cc.

void towr::SwingConstraint::InitVariableDependedQuantities ( const VariablesPtr &  x )

override

Definition at line 42 of file swing_constraint.cc.

Member Data Documentation

NodesVariablesPhaseBased::Ptr towr::SwingConstraint::ee_motion_

private

Definition at line 67 of file swing_constraint.h.

std::string towr::SwingConstraint::ee_motion_id_

private

Definition at line 69 of file swing_constraint.h.

std::vector<int> towr::SwingConstraint::pure_swing_node_ids_

private

Definition at line 71 of file swing_constraint.h.

double towr::SwingConstraint::t_swing_avg_ = 0.3

private

Definition at line 68 of file swing_constraint.h.

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

• swing_constraint.h
• swing_constraint.cc