Holds the parameters to tune the optimization problem. More...
#include <parameters.h>
Public Types | |
| using | CostWeights = std::vector< std::pair< CostName, double >> |
| using | EEID = unsigned int |
| using | UsedConstraints = std::vector< ConstraintName > |
| using | VecTimes = std::vector< double > |
Public Member Functions | |
| VecTimes | GetBasePolyDurations () const |
| The durations of each base polynomial in the spline (lin+ang). More... | |
| int | GetEECount () const |
| The number of endeffectors. More... | |
| int | GetPhaseCount (EEID ee) const |
| The number of phases allowed for endeffector ee. More... | |
| bool | OptimizeTimings () const |
| True if the phase durations should be optimized over. More... | |
| Parameters () | |
| Default parameters to use. More... | |
| virtual | ~Parameters ()=default |
Public Attributes | |
| UsedConstraints | constraints_ |
| Which constraints should be used in the optimization problem. More... | |
| CostWeights | costs_ |
| Which costs should be used in the optimiation problem. More... | |
| double | dt_constraint_base_motion_ |
| Interval at which the base motion constraint is enforced. More... | |
| double | dt_constraint_dynamic_ |
| Interval at which the dynamic constraint is enforced. More... | |
| double | dt_constraint_range_of_motion_ |
| Interval at which the range of motion constraint is enforced. More... | |
| double | duration_base_polynomial_ |
| Fixed duration of each cubic polynomial describing the base motion. More... | |
| std::vector< bool > | ee_in_contact_at_start_ |
| True if the foot is initially in contact with the terrain. More... | |
| std::vector< VecTimes > | ee_phase_durations_ |
| Number and initial duration of each foot's swing and stance phases. More... | |
| int | ee_polynomials_per_swing_phase_ |
| Number of polynomials to parameterize foot movement during swing phases. More... | |
| double | force_limit_in_norm_ |
| The maximum allowable force [N] in normal direction. More... | |
| int | force_polynomials_per_stance_phase_ |
| Number of polynomials to parameterize each contact force during stance phase. More... | |
| double | max_phase_duration_ |
| When optimizing over phase duration, this is is maximum allowed. More... | |
| double | min_phase_duration_ |
| When optimizing over phase duration, this is the minimum allowed. More... | |
| double | t_total_ |
| Total duration [s] of the walking motion. More... | |
Holds the parameters to tune the optimization problem.
Definition at line 45 of file parameters.h.
| using towr::Parameters::CostWeights = std::vector<std::pair<CostName, double>> |
Definition at line 47 of file parameters.h.
| using towr::Parameters::EEID = unsigned int |
Definition at line 50 of file parameters.h.
| using towr::Parameters::UsedConstraints = std::vector<ConstraintName> |
Definition at line 48 of file parameters.h.
| using towr::Parameters::VecTimes = std::vector<double> |
Definition at line 49 of file parameters.h.
| towr::Parameters::Parameters | ( | ) |
Default parameters to use.
Definition at line 36 of file parameters.cc.
|
virtualdefault |
| Parameters::VecTimes towr::Parameters::GetBasePolyDurations | ( | ) | const |
The durations of each base polynomial in the spline (lin+ang).
Definition at line 87 of file parameters.cc.
| int towr::Parameters::GetEECount | ( | ) | const |
The number of endeffectors.
Definition at line 111 of file parameters.cc.
| int towr::Parameters::GetPhaseCount | ( | EEID | ee | ) | const |
The number of phases allowed for endeffector ee.
Definition at line 105 of file parameters.cc.
| bool towr::Parameters::OptimizeTimings | ( | ) | const |
True if the phase durations should be optimized over.
Definition at line 79 of file parameters.cc.
| UsedConstraints towr::Parameters::constraints_ |
Which constraints should be used in the optimization problem.
Definition at line 59 of file parameters.h.
| CostWeights towr::Parameters::costs_ |
Which costs should be used in the optimiation problem.
Definition at line 62 of file parameters.h.
| double towr::Parameters::dt_constraint_base_motion_ |
Interval at which the base motion constraint is enforced.
Definition at line 74 of file parameters.h.
| double towr::Parameters::dt_constraint_dynamic_ |
Interval at which the dynamic constraint is enforced.
Definition at line 68 of file parameters.h.
| double towr::Parameters::dt_constraint_range_of_motion_ |
Interval at which the range of motion constraint is enforced.
Definition at line 71 of file parameters.h.
| double towr::Parameters::duration_base_polynomial_ |
Fixed duration of each cubic polynomial describing the base motion.
Definition at line 77 of file parameters.h.
| std::vector<bool> towr::Parameters::ee_in_contact_at_start_ |
True if the foot is initially in contact with the terrain.
Definition at line 83 of file parameters.h.
| std::vector<VecTimes> towr::Parameters::ee_phase_durations_ |
Number and initial duration of each foot's swing and stance phases.
Definition at line 80 of file parameters.h.
| int towr::Parameters::ee_polynomials_per_swing_phase_ |
Number of polynomials to parameterize foot movement during swing phases.
Definition at line 92 of file parameters.h.
| double towr::Parameters::force_limit_in_norm_ |
The maximum allowable force [N] in normal direction.
Definition at line 98 of file parameters.h.
| int towr::Parameters::force_polynomials_per_stance_phase_ |
Number of polynomials to parameterize each contact force during stance phase.
Definition at line 95 of file parameters.h.
| double towr::Parameters::max_phase_duration_ |
When optimizing over phase duration, this is is maximum allowed.
Definition at line 89 of file parameters.h.
| double towr::Parameters::min_phase_duration_ |
When optimizing over phase duration, this is the minimum allowed.
Definition at line 86 of file parameters.h.
| double towr::Parameters::t_total_ |
Total duration [s] of the walking motion.
Definition at line 65 of file parameters.h.