towr::NlpFactory Class Reference

#include <nlp_factory.h>

Public Types
using	ContraintPtrVec = std::vector< ifopt::ConstraintSet::Ptr >
using	CostPtrVec = std::vector< ifopt::CostTerm::Ptr >
using	EEPos = std::vector< Eigen::Vector3d >
using	VariablePtrVec = std::vector< ifopt::VariableSet::Ptr >
using	Vector3d = Eigen::Vector3d

Public Member Functions
ContraintPtrVec	GetConstraints () const
ContraintPtrVec	GetCosts () const
VariablePtrVec	GetVariableSets ()
	NlpFactory ()=default
virtual	~NlpFactory ()=default

Public Attributes
BaseState	final_base_
BaseState	initial_base_
EEPos	initial_ee_W_
RobotModel	model_
Parameters	params_
SplineHolder	spline_holder_
HeightMap::Ptr	terrain_

Private Member Functions
ContraintPtrVec	GetConstraint (ConstraintName name) const
CostPtrVec	GetCost (const CostName &id, double weight) const
ContraintPtrVec	MakeBaseAccConstraint () const
ContraintPtrVec	MakeBaseRangeOfMotionConstraint () const
std::vector< Nodes::Ptr >	MakeBaseVariables () const
std::vector< PhaseDurations::Ptr >	MakeContactScheduleVariables () const
ContraintPtrVec	MakeDynamicConstraint () const
std::vector< PhaseNodes::Ptr >	MakeEndeffectorVariables () const
ContraintPtrVec	MakeForceConstraint () const
CostPtrVec	MakeForcesCost (double weight) const
std::vector< PhaseNodes::Ptr >	MakeForceVariables () const
ContraintPtrVec	MakeRangeOfMotionBoxConstraint () const
ContraintPtrVec	MakeSwingConstraint () const
ContraintPtrVec	MakeTerrainConstraint () const
ContraintPtrVec	MakeTotalTimeConstraint () const

Detailed Description

Builds variables, cost and constraints for the legged locomotion problem.

Abstracts the entire problem of Trajectory Optimization for walking robots into the formulation of variables, constraints and cost, solvable by any NLP solver.

Definition at line 51 of file nlp_factory.h.

Member Typedef Documentation

using towr::NlpFactory::ContraintPtrVec = std::vector<ifopt::ConstraintSet::Ptr>

Definition at line 54 of file nlp_factory.h.

using towr::NlpFactory::CostPtrVec = std::vector<ifopt::CostTerm::Ptr>

Definition at line 55 of file nlp_factory.h.

using towr::NlpFactory::EEPos = std::vector<Eigen::Vector3d>

Definition at line 56 of file nlp_factory.h.

using towr::NlpFactory::VariablePtrVec = std::vector<ifopt::VariableSet::Ptr>

Definition at line 53 of file nlp_factory.h.

using towr::NlpFactory::Vector3d = Eigen::Vector3d

Definition at line 57 of file nlp_factory.h.

Constructor & Destructor Documentation

towr::NlpFactory::NlpFactory ( )

default

virtual towr::NlpFactory::~NlpFactory ( )

virtualdefault

Member Function Documentation

NlpFactory::ContraintPtrVec towr::NlpFactory::GetConstraint ( ConstraintName  name ) const

private

Definition at line 206 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::GetConstraints

(

)

const

Returns

The ifopt constraints that enforce feasible motions.

Definition at line 195 of file nlp_factory.cc.

NlpFactory::CostPtrVec towr::NlpFactory::GetCost ( const CostName &  id, double  weight  ) const

private

Definition at line 334 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::GetCosts

(

)

const

Returns

The ifopt costs to tune the motion.

Definition at line 323 of file nlp_factory.cc.

NlpFactory::VariablePtrVec towr::NlpFactory::GetVariableSets

(

)

Returns

The ifopt variable sets that will be optimized over.

Definition at line 51 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeBaseAccConstraint ( ) const

private

Definition at line 309 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeBaseRangeOfMotionConstraint ( ) const

private

Definition at line 223 of file nlp_factory.cc.

std::vector< Nodes::Ptr > towr::NlpFactory::MakeBaseVariables ( ) const

private

Definition at line 82 of file nlp_factory.cc.

std::vector< PhaseDurations::Ptr > towr::NlpFactory::MakeContactScheduleVariables ( ) const

private

Definition at line 177 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeDynamicConstraint ( ) const

private

Definition at line 229 of file nlp_factory.cc.

std::vector< PhaseNodes::Ptr > towr::NlpFactory::MakeEndeffectorVariables ( ) const

private

Definition at line 108 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeForceConstraint ( ) const

private

Definition at line 281 of file nlp_factory.cc.

NlpFactory::CostPtrVec towr::NlpFactory::MakeForcesCost ( double  weight ) const

private

Definition at line 343 of file nlp_factory.cc.

std::vector< PhaseNodes::Ptr > towr::NlpFactory::MakeForceVariables ( ) const

private

Definition at line 150 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeRangeOfMotionBoxConstraint ( ) const

private

Definition at line 238 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeSwingConstraint ( ) const

private

Definition at line 296 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeTerrainConstraint ( ) const

private

Definition at line 268 of file nlp_factory.cc.

NlpFactory::ContraintPtrVec towr::NlpFactory::MakeTotalTimeConstraint ( ) const

private

Definition at line 254 of file nlp_factory.cc.

Member Data Documentation

BaseState towr::NlpFactory::final_base_

Definition at line 79 of file nlp_factory.h.

BaseState towr::NlpFactory::initial_base_

Definition at line 78 of file nlp_factory.h.

EEPos towr::NlpFactory::initial_ee_W_

Definition at line 80 of file nlp_factory.h.

RobotModel towr::NlpFactory::model_

Definition at line 81 of file nlp_factory.h.

Parameters towr::NlpFactory::params_

Definition at line 83 of file nlp_factory.h.

SplineHolder towr::NlpFactory::spline_holder_

Definition at line 85 of file nlp_factory.h.

HeightMap::Ptr towr::NlpFactory::terrain_

Definition at line 82 of file nlp_factory.h.

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

• nlp_factory.h
• nlp_factory.cc