Nodes that are associated to either swing or stance phases. More...

#include <phase_nodes.h>

Inheritance diagram for towr::PhaseNodes:

Classes
struct	PolyInfo
	Holds semantic information each polynomial in spline. More...

Public Types
using	NodeIds = std::vector< int >

using	OptNodeIs = int

using	Ptr = std::shared_ptr< PhaseNodes >

enum	Type { Force, Motion }

Public Types inherited from towr::Nodes
using	ObserverPtr = NodesObserver *

using	Ptr = std::shared_ptr< Nodes >

enum	Side { Start =0, End }

using	VecDurations = std::vector< double >

Public Member Functions
virtual VecDurations	ConvertPhaseToPolyDurations (const VecDurations &phase_durations) const
	Converts durations of swing and stance phases to polynomial durations. More...

virtual double	GetDerivativeOfPolyDurationWrtPhaseDuration (int polynomial_id) const
	How a change in the phase duration affects the polynomial duration. More...

NodeIds	GetIndicesOfNonConstantNodes () const
	The indices of those nodes that don't belong to a constant phase. More...

int	GetNodeIDAtStartOfPhase (int phase) const

virtual std::vector< IndexInfo >	GetNodeInfoAtOptIndex (int idx) const override
	The node information that the optimization index represents. More...

virtual int	GetNumberOfPrevPolynomialsInPhase (int polynomial_id) const
	How many polynomials in the current phase come before. More...

int	GetPhase (int node_id) const

Eigen::Vector3d	GetValueAtStartOfPhase (int phase) const

virtual bool	IsConstantNode (int node_id) const
	node is constant if either left or right polynomial belongs to a constant phase. More...

virtual bool	IsInConstantPhase (int polynomial_id) const
	Is the polynomial constant, so not changing the value. More...

	PhaseNodes (int phase_count, bool in_contact_start, const std::string &var_name, int n_polys_in_changing_phase, Type type)
	Constructs a variable set of node variables. More...

virtual	~PhaseNodes ()=default

Public Member Functions inherited from towr::Nodes
void	AddFinalBound (Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
	Restricts the last node in the spline. More...

void	AddObserver (ObserverPtr const spline)
	Adds a dependent observer that gets notified when the nodes change. More...

void	AddStartBound (Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
	Restricts the first node in the spline. More...

const std::vector< Node >	GetBoundaryNodes (int poly_id) const

virtual VecBound	GetBounds () const override

int	GetDim () const

const std::vector< Node >	GetNodes () const

int	GetPolynomialCount () const

VectorXd	GetValues () const override

int	Index (const IndexInfo &node_info) const
	The index at which a specific node variable is stored. More...

int	Index (int node_id, Dx deriv, int node_dim) const

void	InitializeNodesTowardsGoal (const VectorXd &initial_pos, const VectorXd &final_pos, double t_total)
	Sets nodes pos/vel equally spaced from initial to final position. More...

void	SetVariables (const VectorXd &x) override
	Sets the node position and velocity optimization variables. More...

Private Member Functions
std::vector< int >	GetAdjacentPolyIds (int node_id) const

int	GetPolyIDAtStartOfPhase (int phase) const

void	SetBoundsEEForce ()
	Sets the bounds on the node variables to model foot forces. More...

void	SetBoundsEEMotion ()
	Sets the bounds on the node variables to model foot motions. More...

Static Private Member Functions
static std::map< OptNodeIs, NodeIds >	GetOptNodeToNodeMappings (const std::vector< PolyInfo > &)

Private Attributes
std::map< OptNodeIs, NodeIds >	optnode_to_node_

std::vector< PolyInfo >	polynomial_info_

Additional Inherited Members
Static Public Member Functions inherited from towr::Nodes
static int	GetNodeId (int poly_id, Side side)
	The node ID that belongs to a specific side of a specific polynomial. More...

Protected Member Functions inherited from towr::Nodes
void	InitMembers (int n_nodes, int n_variables)
	initializes the member variables. More...

	Nodes (int n_dim, const std::string &variable_name)

virtual	~Nodes ()=default

Protected Attributes inherited from towr::Nodes
VecBound	bounds_
	the bounds on the node values. More...

Detailed Description

Nodes that are associated to either swing or stance phases.

In the node values, not every node is an optimization variable, but two consecutive nodes forming a e.g. stance position spline belong to the same optimization variable. This is because a foot in stance cannot move (or a force in flight must be zero). This makes the number of optimization variables less than the total node values.

Definition at line 46 of file phase_nodes.h.

Member Typedef Documentation

using towr::PhaseNodes::NodeIds = std::vector<int>

Definition at line 50 of file phase_nodes.h.

using towr::PhaseNodes::OptNodeIs = int

Definition at line 49 of file phase_nodes.h.

using towr::PhaseNodes::Ptr = std::shared_ptr<PhaseNodes>

Definition at line 48 of file phase_nodes.h.

Member Enumeration Documentation

enum towr::PhaseNodes::Type

Enumerator
Force
Motion

Definition at line 52 of file phase_nodes.h.

Constructor & Destructor Documentation

towr::PhaseNodes::PhaseNodes	(	int	phase_count,
		bool	in_contact_start,
		const std::string &	var_name,
		int	n_polys_in_changing_phase,
		Type	type
	)

Constructs a variable set of node variables.

Parameters

phase_count	The number of phases (swing, stance) to represent.
in_contact__start	Whether the first node belongs to a stance phase.
var_name	The name given to this set of optimization variables.
n_polys_in_changing_phase	How many polynomials should be used to paramerize each non-constant phase.
type	These nodes represent either force evolution or foot motions.

Definition at line 61 of file phase_nodes.cc.

virtual towr::PhaseNodes::~PhaseNodes ( )

virtualdefault

Member Function Documentation

PhaseNodes::VecDurations towr::PhaseNodes::ConvertPhaseToPolyDurations ( const VecDurations & phase_durations ) const

virtual

Converts durations of swing and stance phases to polynomial durations.

Parameters

phase_durations The durations of alternating swing and stance phases.

Returns: The durations of each polynomial, where multiple polynomials can be used to represent one phase.

Definition at line 84 of file phase_nodes.cc.

std::vector< int > towr::PhaseNodes::GetAdjacentPolyIds ( int node_id ) const

private

Definition at line 219 of file phase_nodes.cc.

double towr::PhaseNodes::GetDerivativeOfPolyDurationWrtPhaseDuration ( int polynomial_id ) const

virtual

How a change in the phase duration affects the polynomial duration.

Parameters

polynomial_id The ID of the polynomial within the spline.

If a phase is represented by multiple (3) equally timed polynomials, then T_poly = 1/3 * T_phase. The derivative of T_poly is then 1/3.

Definition at line 97 of file phase_nodes.cc.

PhaseNodes::NodeIds towr::PhaseNodes::GetIndicesOfNonConstantNodes ( ) const

The indices of those nodes that don't belong to a constant phase.

For forces nodes these are the stance phases (can produce force), and for feet these are the swing phases (can move end-effector).

Definition at line 175 of file phase_nodes.cc.

int towr::PhaseNodes::GetNodeIDAtStartOfPhase ( int phase ) const

Returns: the ID of the first node in the phase.

Definition at line 212 of file phase_nodes.cc.

std::vector< PhaseNodes::IndexInfo > towr::PhaseNodes::GetNodeInfoAtOptIndex ( int idx ) const

overridevirtual

The node information that the optimization index represents.

Parameters

idx	The index (=row) of the node optimization variable.

Returns: Semantic information on what that optimization variables means.

One optimization variables can also represent multiple nodes in the spline if they are always equal (e.g. constant phases). This is why this function returns a vector.

Implements towr::Nodes.

Definition at line 131 of file phase_nodes.cc.

int towr::PhaseNodes::GetNumberOfPrevPolynomialsInPhase ( int polynomial_id ) const

virtual

How many polynomials in the current phase come before.

Parameters

polynomial_id The ID of the polynomial within the spline.

If a phase is represented by multiple (3) polynomials, and the current polynomial corresponds to the third one in the phase, then 2 polynomials come before it.

Definition at line 104 of file phase_nodes.cc.

std::map< PhaseNodes::OptNodeIs, PhaseNodes::NodeIds > towr::PhaseNodes::GetOptNodeToNodeMappings ( const std::vector< PolyInfo > & polynomial_info )

staticprivate

Definition at line 110 of file phase_nodes.cc.

int towr::PhaseNodes::GetPhase ( int node_id ) const

Returns: The phase ID belonging to node with node_id.

Only makes sense if left and right polynomial belong to same phase.

Definition at line 187 of file phase_nodes.cc.

int towr::PhaseNodes::GetPolyIDAtStartOfPhase ( int phase ) const

private

Returns: the ID of the polynomial at the start of phase phase.

Definition at line 196 of file phase_nodes.cc.

Eigen::Vector3d towr::PhaseNodes::GetValueAtStartOfPhase ( int phase ) const

Returns: the value of the first node of the phase.

Definition at line 205 of file phase_nodes.cc.

bool towr::PhaseNodes::IsConstantNode ( int node_id ) const

virtual

node is constant if either left or right polynomial belongs to a constant phase.

Definition at line 155 of file phase_nodes.cc.

bool towr::PhaseNodes::IsInConstantPhase ( int polynomial_id ) const

virtual

Is the polynomial constant, so not changing the value.

Parameters

polynomial_id The ID of the polynomial within the spline.

Definition at line 169 of file phase_nodes.cc.

void towr::PhaseNodes::SetBoundsEEForce ( )

private

Sets the bounds on the node variables to model foot forces.

For this the force for nodes representing swing-phases is set to zero.

Definition at line 267 of file phase_nodes.cc.

void towr::PhaseNodes::SetBoundsEEMotion ( )

private

Sets the bounds on the node variables to model foot motions.

For this the velocity of the stance nodes is bounds to zero.

Definition at line 237 of file phase_nodes.cc.

Member Data Documentation

std::map<OptNodeIs, NodeIds > towr::PhaseNodes::optnode_to_node_

private

Definition at line 155 of file phase_nodes.h.

std::vector<PolyInfo> towr::PhaseNodes::polynomial_info_

private

Definition at line 150 of file phase_nodes.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation