Keeps the 6D base motion in a specified range. More...

#include <base_motion_constraint.h>

Inheritance diagram for towr::BaseMotionConstraint:

Public Member Functions
	BaseMotionConstraint (double T, double dt, const SplineHolder &spline_holder)
	Links the base variables and sets hardcoded bounds on the state. More...

void	UpdateBoundsAtInstance (double t, int k, VecBound &) const override
	Sets upper/lower bound a specific time t, corresponding to node k. More...

void	UpdateConstraintAtInstance (double t, int k, VectorXd &g) const override
	Sets the constraint value a specific time t, corresponding to node k. More...

void	UpdateJacobianAtInstance (double t, int k, std::string, Jacobian &) const override
	Sets Jacobian rows at a specific time t, corresponding to node k. More...

virtual	~BaseMotionConstraint ()=default

Public Member Functions inherited from towr::TimeDiscretizationConstraint
void	FillJacobianBlock (std::string var_set, Jacobian &) const override

VecBound	GetBounds () const override

Eigen::VectorXd	GetValues () const override

	TimeDiscretizationConstraint (double T, double dt, std::string constraint_name)
	Constructs a constraint for ifopt. More...

	TimeDiscretizationConstraint (const VecTimes &dts, std::string name)
	construct a constraint for ifopt. More...

virtual	~TimeDiscretizationConstraint ()=default

Public Member Functions inherited from ifopt::ConstraintSet
	ConstraintSet (int n_constraints, const std::string &name)

Jacobian	GetJacobian () const final

void	LinkWithVariables (const VariablesPtr &x)

virtual	~ConstraintSet ()=default

Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)

std::string	GetName () const

int	GetRows () const

virtual void	Print (double tolerance, int &index_start) const

void	SetRows (int num_rows)

virtual	~Component ()=default

Private Member Functions
int	GetRow (int node, int dim) const

Private Attributes
NodeSpline::Ptr	base_angular_

NodeSpline::Ptr	base_linear_

VecBound	node_bounds_
	same bounds for each discretized node More...

Additional Inherited Members
Public Types inherited from towr::TimeDiscretizationConstraint
using	Bounds = ifopt::Bounds

using	VecTimes = std::vector< double >

Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSet >	Ptr

typedef Composite::Ptr	VariablesPtr

Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor >	Jacobian

typedef std::shared_ptr< Component >	Ptr

typedef std::vector< Bounds >	VecBound

typedef Eigen::VectorXd	VectorXd

Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater

Protected Member Functions inherited from towr::TimeDiscretizationConstraint
int	GetNumberOfNodes () const

Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr	GetVariables () const

Protected Attributes inherited from towr::TimeDiscretizationConstraint
VecTimes	dts_
	times at which the constraint is evaluated. More...

Detailed Description

Keeps the 6D base motion in a specified range.

In general this constraint should be avoided, since a similar affect can be achieved with RangeOfMotionConstraint.

Definition at line 48 of file base_motion_constraint.h.

Constructor & Destructor Documentation

◆ BaseMotionConstraint()

towr::BaseMotionConstraint::BaseMotionConstraint	(	double	T,
		double	dt,
		const SplineHolder &	spline_holder
	)

Links the base variables and sets hardcoded bounds on the state.

Parameters

T	The total time of the optimization horizon.
dt	The discretization interval of the constraints.
spline_holder	Holds pointers to the base variables.

Definition at line 38 of file base_motion_constraint.cc.

◆ ~BaseMotionConstraint()

virtual towr::BaseMotionConstraint::~BaseMotionConstraint ( )

virtualdefault

Member Function Documentation

◆ GetRow()

int towr::BaseMotionConstraint::GetRow	(	int	node,
		int	dim
	)		const

private

Definition at line 88 of file base_motion_constraint.cc.

◆ UpdateBoundsAtInstance()

void towr::BaseMotionConstraint::UpdateBoundsAtInstance	(	double	t,
		int	k,
		VecBound &	b
	)		const

overridevirtual

Sets upper/lower bound a specific time t, corresponding to node k.

Parameters

t	The time along the trajectory to set the bounds.
k	The index of the time t, so t=k*dt

Implements towr::TimeDiscretizationConstraint.

Definition at line 69 of file base_motion_constraint.cc.

◆ UpdateConstraintAtInstance()

void towr::BaseMotionConstraint::UpdateConstraintAtInstance	(	double	t,
		int	k,
		VectorXd &	g
	)		const

overridevirtual

Sets the constraint value a specific time t, corresponding to node k.

Parameters

t	The time along the trajectory to set the constraint.
k	The index of the time t, so t=k*dt

Implements towr::TimeDiscretizationConstraint.

Definition at line 61 of file base_motion_constraint.cc.

◆ UpdateJacobianAtInstance()

void towr::BaseMotionConstraint::UpdateJacobianAtInstance	(	double	t,
		int	k,
		std::string	var_set,
		Jacobian &	jac
	)		const

overridevirtual

Sets Jacobian rows at a specific time t, corresponding to node k.

Parameters

t	The time along the trajcetory to set the bounds.
k	The index of the time t, so t=k*dt
var_set	The name of the ifopt variables currently being queried for.

Implements towr::TimeDiscretizationConstraint.

Definition at line 76 of file base_motion_constraint.cc.

Member Data Documentation

◆ base_angular_

NodeSpline::Ptr towr::BaseMotionConstraint::base_angular_

private

Definition at line 65 of file base_motion_constraint.h.

◆ base_linear_

NodeSpline::Ptr towr::BaseMotionConstraint::base_linear_

private

Definition at line 64 of file base_motion_constraint.h.

◆ node_bounds_

VecBound towr::BaseMotionConstraint::node_bounds_

private

same bounds for each discretized node

Definition at line 67 of file base_motion_constraint.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BaseMotionConstraint()

◆ ~BaseMotionConstraint()

Member Function Documentation

◆ GetRow()

◆ UpdateBoundsAtInstance()

◆ UpdateConstraintAtInstance()

◆ UpdateJacobianAtInstance()

Member Data Documentation

◆ base_angular_

◆ base_linear_

◆ node_bounds_