swing_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_SWING_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_SWING_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
36 
37 namespace towr {
38 
47 class SwingConstraint : public ifopt::ConstraintSet {
48 public:
49  using Vector2d = Eigen::Vector2d;
50 
55  SwingConstraint (std::string ee_motion_id);
56  virtual ~SwingConstraint () = default;
57 
58  VectorXd GetValues() const override;
59  VecBound GetBounds() const override;
60  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
61 
62  virtual void InitVariableDependedQuantities(const VariablesPtr& x) override;
63 
64 private:
66  double t_swing_avg_ = 0.3;
67  std::string ee_motion_id_;
68 // double swing_height_in_world_ = 0.10; // hacky way to lift legs
69 
70  std::vector<int> pure_swing_node_ids_;
71 };
72 
73 } /* namespace towr */
74 
75 #endif /* TOWR_CONSTRAINTS_SWING_CONSTRAINT_H_ */
PhaseNodes::Ptr ee_motion_
virtual void InitVariableDependedQuantities(const VariablesPtr &x) override
std::shared_ptr< PhaseNodes > Ptr
Definition: phase_nodes.h:48
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Eigen::Vector2d Vector2d
Eigen::VectorXd VectorXd
SwingConstraint(std::string ee_motion_id)
Links the swing constraint with current foot variables.
VectorXd GetValues() const override
std::vector< int > pure_swing_node_ids_
VecBound GetBounds() const override
virtual ~SwingConstraint()=default
Constrains the foot position during the swing-phase.


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