terrain_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
36 #include <towr/height_map.h>
37 
38 namespace towr {
39 
49 class TerrainConstraint : public ifopt::ConstraintSet {
50 public:
51  using Vector3d = Eigen::Vector3d;
52 
58  TerrainConstraint (const HeightMap::Ptr& terrain, std::string ee_motion_id);
59  virtual ~TerrainConstraint () = default;
60 
61  virtual void InitVariableDependedQuantities(const VariablesPtr& x) override;
62 
63  VectorXd GetValues() const override;
64  VecBound GetBounds() const override;
65  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
66 
67 private:
70 
71  std::string ee_motion_id_;
72  std::vector<int> node_ids_;
73 };
74 
75 } /* namespace towr */
76 
77 #endif /* TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_ */
VecBound GetBounds() const override
std::shared_ptr< PhaseNodes > Ptr
Definition: phase_nodes.h:48
Eigen::VectorXd VectorXd
VectorXd GetValues() const override
std::string ee_motion_id_
the name of the endeffector variable set.
Ensures the endeffectors always lays on or above terrain height.
HeightMap::Ptr terrain_
the height map of the current terrain.
void FillJacobianBlock(std::string var_set, Jacobian &) const override
std::vector< int > node_ids_
the indices of the nodes constrained.
virtual ~TerrainConstraint()=default
PhaseNodes::Ptr ee_motion_
the position of the endeffector.
std::shared_ptr< HeightMap > Ptr
Definition: height_map.h:55
TerrainConstraint(const HeightMap::Ptr &terrain, std::string ee_motion_id)
Constructs a terrain constraint.
virtual void InitVariableDependedQuantities(const VariablesPtr &x) override


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