Public Types | Public Member Functions | Private Attributes | List of all members
towr::SwingConstraint Class Reference

Constrains the foot position during the swing-phase. More...

#include <swing_constraint.h>

Inheritance diagram for towr::SwingConstraint:
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Public Types

using Vector2d = Eigen::Vector2d
 

Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const override
 
VecBound GetBounds () const override
 
VectorXd GetValues () const override
 
virtual void InitVariableDependedQuantities (const VariablesPtr &x) override
 
 SwingConstraint (std::string ee_motion_id)
 Links the swing constraint with current foot variables. More...
 
virtual ~SwingConstraint ()=default
 

Private Attributes

PhaseNodes::Ptr ee_motion_
 
std::string ee_motion_id_
 
std::vector< int > pure_swing_node_ids_
 
double t_swing_avg_ = 0.3
 

Detailed Description

Constrains the foot position during the swing-phase.

This avoids very quick swinging of the feet, where the polynomial then leaves the e.g. range-of-motion in between nodes. This constraint can also be used to force a leg lift. However, it is cleanest if the optimization can be performed without this heuristic constraint.

Definition at line 47 of file swing_constraint.h.

Member Typedef Documentation

using towr::SwingConstraint::Vector2d = Eigen::Vector2d

Definition at line 49 of file swing_constraint.h.

Constructor & Destructor Documentation

towr::SwingConstraint::SwingConstraint ( std::string  ee_motion_id)

Links the swing constraint with current foot variables.

Parameters
ee_motion_idThe name of the foot variables in the optimization.

Definition at line 35 of file swing_constraint.cc.

virtual towr::SwingConstraint::~SwingConstraint ( )
virtualdefault

Member Function Documentation

void towr::SwingConstraint::FillJacobianBlock ( std::string  var_set,
Jacobian &  jac 
) const
override

Definition at line 90 of file swing_constraint.cc.

SwingConstraint::VecBound towr::SwingConstraint::GetBounds ( ) const
override

Definition at line 84 of file swing_constraint.cc.

Eigen::VectorXd towr::SwingConstraint::GetValues ( ) const
override

Definition at line 56 of file swing_constraint.cc.

void towr::SwingConstraint::InitVariableDependedQuantities ( const VariablesPtr &  x)
overridevirtual

Definition at line 42 of file swing_constraint.cc.

Member Data Documentation

PhaseNodes::Ptr towr::SwingConstraint::ee_motion_
private

Definition at line 65 of file swing_constraint.h.

std::string towr::SwingConstraint::ee_motion_id_
private

Definition at line 67 of file swing_constraint.h.

std::vector<int> towr::SwingConstraint::pure_swing_node_ids_
private

Definition at line 70 of file swing_constraint.h.

double towr::SwingConstraint::t_swing_avg_ = 0.3
private

Definition at line 66 of file swing_constraint.h.


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


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:58