Makes sure all the phase durations sum up to the total time. More...

#include <total_duration_constraint.h>

Inheritance diagram for towr::TotalDurationConstraint:

Public Types
using	EE = uint

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

	TotalDurationConstraint (double T_total, int ee)

	~TotalDurationConstraint ()=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
EE	ee_

PhaseDurations::Ptr	phase_durations_

double	T_total_

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

Makes sure all the phase durations sum up to the total time.

When optimizing over the phase durations of each foot, this constraint makes sure that: t_phase_1 + ... + t_phase_(n-1) = T_total.

Attention: At this point last phase duration is not an optimization variable and a way should be found to optimize over all phases while setting the total duration by constraint and not through hard parameterization.

Definition at line 52 of file total_duration_constraint.h.