towr::TOWR Class Reference

TOWR - Trajectory Optimizer for Walking Robots. More...

#include <towr.h>

Public Types
using	FeetPos = std::vector< Eigen::Vector3d >

Public Member Functions
int	GetIterationCount () const
SplineHolder	GetSolution () const
void	SetInitialState (const BaseState &base, const FeetPos &feet)
	The current state of the robot where the optimization starts from. More...
void	SetParameters (const BaseState &final_base, const Parameters &params, const RobotModel &model, HeightMap::Ptr terrain)
	The parameters that determine the type of motion produced. More...
void	SetSolution (int solver_iteration)
	Sets the solution to a previous iteration of solver. More...
void	SolveNLP ()
	Constructs the problem and solves it with IPOPT. More...
	TOWR ()
virtual	~TOWR ()=default

Private Member Functions
ifopt::Problem	BuildNLP ()

Private Attributes
NlpFactory	factory_
ifopt::Problem	nlp_
	The solver independent optimization problem formulation. More...

Detailed Description

TOWR - Trajectory Optimizer for Walking Robots.

Facade to the motion optimization framework. The user sets the initial state and the desired motion parameters, then and NLP is constructed and solved with the chosen solver and finally the solution splines can be retrieved.

Attention

To build this file into an executable, the solver IPOPT must be installed and linked against its ifopt interface via "find_package(ifopt_ipopt)

Definition at line 63 of file towr.h.

Member Typedef Documentation

using towr::TOWR::FeetPos = std::vector<Eigen::Vector3d>

Definition at line 65 of file towr.h.

Constructor & Destructor Documentation

towr::TOWR::TOWR ( )

inline

Definition at line 67 of file towr.h.

virtual towr::TOWR::~TOWR ( )

virtualdefault

Member Function Documentation

ifopt::Problem towr::TOWR::BuildNLP ( )

inlineprivate

Returns

the solver independent optimization problem.

Definition at line 173 of file towr.h.

int towr::TOWR::GetIterationCount ( ) const

inline

Returns

The number of iterations the solver took to find the solution.

Definition at line 154 of file towr.h.

SplineHolder towr::TOWR::GetSolution ( ) const

inline

Returns

the optimized motion for base, feet and force as splines.

The can then be queried at specific times to get the positions, velocities, or forces.

Definition at line 133 of file towr.h.

void towr::TOWR::SetInitialState ( const BaseState &  base, const FeetPos &  feet  )

inline

The current state of the robot where the optimization starts from.

Parameters

base	The linear and angular position and velocity of the 6D- base.
feet	The current position of the end-effectors.

Definition at line 86 of file towr.h.

void towr::TOWR::SetParameters ( const BaseState &  final_base, const Parameters &  params, const RobotModel &  model, HeightMap::Ptr  terrain  )

inline

The parameters that determine the type of motion produced.

Parameters

final_base	The desired final position and velocity of the base.
params	The parameters defining the optimization problem.
model	The kinematic and dynamic model of the system.
terrain	The height map of the terrain to walk over.

Definition at line 100 of file towr.h.

void towr::TOWR::SetSolution ( int  solver_iteration )

inline

Sets the solution to a previous iteration of solver.

Parameters

solver_iteration

The iteration to be inspected.

This can be helpful when trying to understand how the NLP solver reached a particular solution. The initialization of the NLP can also be inspected by setting the iteration to zero.

Definition at line 146 of file towr.h.

void towr::TOWR::SolveNLP ( )

inline

Constructs the problem and solves it with IPOPT.

Could use any ifopt solver interface, see (http://wiki.ros.org/ifopt). Currently IPOPT and SNOPT are implemented.

Definition at line 117 of file towr.h.

Member Data Documentation

NlpFactory towr::TOWR::factory_

private

Definition at line 168 of file towr.h.

ifopt::Problem towr::TOWR::nlp_

private

The solver independent optimization problem formulation.

This object holds ownership of the optimization variables, so must exist to query the solution values.

Definition at line 166 of file towr.h.

---

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

• towr.h