force_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
36 #include <towr/height_map.h> // for friction cone
37 
38 namespace towr {
39 
53 class ForceConstraint : public ifopt::ConstraintSet {
54 public:
55  using Vector3d = Eigen::Vector3d;
56  using EE = uint;
57 
64  ForceConstraint (const HeightMap::Ptr& terrain,
65  double force_limit_in_normal_direction,
66  EE endeffector_id);
67  virtual ~ForceConstraint () = default;
68 
69  virtual void InitVariableDependedQuantities(const VariablesPtr& x) override;
70 
71  VectorXd GetValues() const override;
72  VecBound GetBounds() const override;
73  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
74 
75 private:
78 
80  double fn_max_;
81  double mu_;
83  EE ee_;
84 
89  std::vector<int> pure_stance_force_node_ids_;
90 };
91 
92 } /* namespace towr */
93 
94 #endif /* TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_ */
std::vector< int > pure_stance_force_node_ids_
PhaseNodes::Ptr ee_force_
the current xyz foot forces.
double mu_
friction coeff between robot feet and terrain.
void FillJacobianBlock(std::string var_set, Jacobian &) const override
ForceConstraint(const HeightMap::Ptr &terrain, double force_limit_in_normal_direction, EE endeffector_id)
Constructs a force contraint.
std::shared_ptr< PhaseNodes > Ptr
Definition: phase_nodes.h:48
Eigen::Vector3d Vector3d
virtual void InitVariableDependedQuantities(const VariablesPtr &x) override
Eigen::VectorXd VectorXd
virtual ~ForceConstraint()=default
double fn_max_
force limit in normal direction.
VecBound GetBounds() const override
PhaseNodes::Ptr ee_motion_
the current xyz foot positions.
EE ee_
The endeffector force to be constrained.
int n_constraints_per_node_
number of constraint for each node.
VectorXd GetValues() const override
Ensures foot force that is unilateral and inside friction cone.
HeightMap::Ptr terrain_
gradient information at every position (x,y).
std::shared_ptr< HeightMap > Ptr
Definition: height_map.h:55


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:57