example.cc
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29 
30 #include <cmath>
31 
32 #include <towr/towr.h>
34 
35 
36 using namespace towr;
37 
38 
39 // Generate even ground.
40 class FlatGround : public HeightMap {
41 public:
42  virtual double GetHeight(double x, double y) const override { return 0.0; };
43 };
44 
45 
46 // The kinematic limits of a one-legged hopper
48 public:
50  {
51  nominal_stance_.at(0) = Eigen::Vector3d( 0.0, 0.0, -0.58);
52  max_dev_from_nominal_ << 0.25, 0.15, 0.2;
53  }
54 };
55 
56 
57 // The Centroidal dynamics of a one-legged hopper
59 public:
61  : CentroidalModel(20, // mass of the robot
62  1.2, 5.5, 6.0, 0.0, -0.2, -0.01, // base inertia
63  1) {} // number of endeffectors
64 };
65 
66 
67 int main()
68 {
69  // Kinematic limits and dynamic parameters of the hopper
70  RobotModel model;
71  model.dynamic_model_ = std::make_shared<MonopedDynamicModel>();
72  model.kinematic_model_ = std::make_shared<MonopedKinematicModel>();
73 
74 
75  // set the initial position of the hopper
76  BaseState initial_base;
77  initial_base.lin.at(kPos).z() = 0.5;
78  Eigen::Vector3d initial_foot_pos_W = Eigen::Vector3d::Zero();
79 
80 
81  // define the desired goal state of the hopper
82  BaseState goal;
83  goal.lin.at(towr::kPos) << 1.0, 0.0, 0.5;
84 
85 
86  // Parameters that define the motion. See c'tor for default values or
87  // other values that can be modified.
88  Parameters params;
89  params.t_total_ = 1.6; // [s] time to reach goal state
90  // here we define the initial phase durations, that can however be changed
91  // by the optimizer. The number of swing and stance phases however is fixed.
92  // alternating stance and swing: ____-----_____-----_____-----_____
93  params.ee_phase_durations_.push_back({0.4, 0.2, 0.4, 0.2, 0.4, 0.2, 0.2});
94  params.ee_in_contact_at_start_.push_back(true);
95 
96 
97  // Pass this information to the actual solver
98  TOWR towr;
99  towr.SetInitialState(initial_base, {initial_foot_pos_W});
100  towr.SetParameters(goal, params, model, std::make_shared<FlatGround>());
101 
102  towr.SolveNLP();
103  auto x = towr.GetSolution();
104 
105 
106  // Print out the trajecetory at discrete time samples
107  using namespace std;
108  cout.precision(2);
109  cout << fixed;
110  cout << "\n====================\nMonoped trajectory:\n====================\n";
111 
112  double t = 0.0;
113  while (t<=params.t_total_+1e-5) {
114 
115  cout << "t=" << t << "\n";
116  cout << "Base linear position x,y,z: \t";
117  cout << x.base_linear_->GetPoint(t).p().transpose() << "\t[m]" << endl;
118 
119  cout << "Base Euler roll, pitch, yaw: \t";
120  Eigen::Vector3d rad = x.base_angular_->GetPoint(t).p();
121  cout << (rad/M_PI*180).transpose() << "\t[deg]" << endl;
122 
123  cout << "Foot position x,y,z: \t";
124  cout << x.ee_motion_.at(0)->GetPoint(t).p().transpose() << "\t[m]" << endl;
125 
126  cout << "Contact force x,y,z: \t";
127  cout << x.ee_force_.at(0)->GetPoint(t).p().transpose() << "\t[N]" << endl;
128 
129  bool contact = x.phase_durations_.at(0)->IsContactPhase(t);
130  std::string foot_in_contact = contact? "yes" : "no";
131  cout << "Foot in contact: \t" + foot_in_contact << endl;
132 
133  cout << endl;
134 
135  t += 0.2;
136  }
137 }
DynamicModel::Ptr dynamic_model_
virtual double GetHeight(double x, double y) const override
Definition: example.cc:42
const VectorXd at(Dx deriv) const
std::vector< bool > ee_in_contact_at_start_
void SetInitialState(const BaseState &base, const FeetPos &feet)
void SetParameters(const BaseState &final_base, const Parameters &params, const RobotModel &model, HeightMap::Ptr terrain)
NodeSpline::Ptr base_linear_
std::vector< VecTimes > ee_phase_durations_
int main()
Definition: example.cc:67
void SolveNLP()
SplineHolder GetSolution() const
KinematicModel::Ptr kinematic_model_


towr_examples
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 8 2018 02:18:57