towr::TerrainConstraint Class Reference

Ensures the endeffectors always lays on or above terrain height. More...

#include <terrain_constraint.h>

Inheritance diagram for towr::TerrainConstraint:

Public Types
using	Vector3d = Eigen::Vector3d

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
	TerrainConstraint (const HeightMap::Ptr &terrain, std::string ee_motion_id)
	Constructs a terrain constraint. More...
virtual	~TerrainConstraint ()=default

Private Attributes
PhaseNodes::Ptr	ee_motion_
	the position of the endeffector. More...
std::string	ee_motion_id_
	the name of the endeffector variable set. More...
std::vector< int >	node_ids_
	the indices of the nodes constrained. More...
HeightMap::Ptr	terrain_
	the height map of the current terrain. More...

Detailed Description

Ensures the endeffectors always lays on or above terrain height.

When using interior point solvers such as IPOPT to solve the problem, this constraint also keeps the foot nodes far from the terrain, causing a leg lifting during swing-phase. This is convenient.

Attention: This is enforced only at the spline nodes.

Definition at line 49 of file terrain_constraint.h.

Member Typedef Documentation

using towr::TerrainConstraint::Vector3d = Eigen::Vector3d

Definition at line 51 of file terrain_constraint.h.

Constructor & Destructor Documentation

towr::TerrainConstraint::TerrainConstraint	(	const HeightMap::Ptr &	terrain,
		std::string	ee_motion_id
	)

Constructs a terrain constraint.

Parameters

terrain	The terrain height value and slope for each position x,y.
ee_motion_id	The name of the endeffector variable set.

Definition at line 36 of file terrain_constraint.cc.

virtual towr::TerrainConstraint::~TerrainConstraint ( )

virtualdefault

Member Function Documentation

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

override

Definition at line 91 of file terrain_constraint.cc.

TerrainConstraint::VecBound towr::TerrainConstraint::GetBounds ( ) const

override

Definition at line 73 of file terrain_constraint.cc.

Eigen::VectorXd towr::TerrainConstraint::GetValues ( ) const

override

Definition at line 58 of file terrain_constraint.cc.

void towr::TerrainConstraint::InitVariableDependedQuantities ( const VariablesPtr &  x )

overridevirtual

Definition at line 45 of file terrain_constraint.cc.

Member Data Documentation

PhaseNodes::Ptr towr::TerrainConstraint::ee_motion_

private

the position of the endeffector.

Definition at line 68 of file terrain_constraint.h.

std::string towr::TerrainConstraint::ee_motion_id_

private

the name of the endeffector variable set.

Definition at line 71 of file terrain_constraint.h.

std::vector<int> towr::TerrainConstraint::node_ids_

private

the indices of the nodes constrained.

Definition at line 72 of file terrain_constraint.h.

HeightMap::Ptr towr::TerrainConstraint::terrain_

private

the height map of the current terrain.

Definition at line 69 of file terrain_constraint.h.

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

• terrain_constraint.h
• terrain_constraint.cc