Public Types | Public Member Functions | Private Member Functions | Private Attributes | List of all members
towr::DynamicConstraint Class Reference

Ensure that the optimized motion complies with the system dynamics. More...

#include <dynamic_constraint.h>

Inheritance diagram for towr::DynamicConstraint:
Inheritance graph
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Public Types

using Vector6d = Eigen::Matrix< double, 6, 1 >
 
- 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< ConstraintSetPtr
 
typedef Composite::Ptr VariablesPtr
 
- Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
 
typedef std::shared_ptr< ComponentPtr
 
typedef std::vector< BoundsVecBound
 
typedef Eigen::VectorXd VectorXd
 

Public Member Functions

 DynamicConstraint (const DynamicModel::Ptr &model, double T, double dt, const SplineHolder &spline_holder)
 Construct a Dynamic constraint. More...
 
virtual ~DynamicConstraint ()=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 k, Dim6D dimension) const
 The row in the overall constraint for this evaluation time. More...
 
void UpdateBoundsAtInstance (double t, int k, VecBound &bounds) 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...
 
void UpdateModel (double t) const
 Updates the model with the current state and forces. More...
 

Private Attributes

EulerConverter base_angular_
 angular base state More...
 
NodeSpline::Ptr base_linear_
 lin. base pos/vel/acc in world frame More...
 
std::vector< NodeSpline::Ptree_forces_
 endeffector forces in world frame. More...
 
std::vector< NodeSpline::Ptree_motion_
 endeffector position in world frame. More...
 
DynamicModel::Ptr model_
 the dynamic model (e.g. Centroidal) More...
 

Additional Inherited Members

- 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

Ensure that the optimized motion complies with the system dynamics.

At specific time instances along the trajecetory, this class checks the current value of the optimization variables and makes sure that the current robot state (pos,vel) and forces match the current acceleration defined by the system dynamics.

The physics-based acceleration is influenced by the robot state as

xdd(t) = f(x(t), xd(t), f(t))

The constraint of the optimization variables w is then:

g(t) = acc_spline(t) - xdd(t)
     = acc_spline(t) - xdd(x(t), xd(t), f(t))
     = acc_spline(w) - xdd(w)

Definition at line 63 of file dynamic_constraint.h.

Member Typedef Documentation

◆ Vector6d

using towr::DynamicConstraint::Vector6d = Eigen::Matrix<double, 6, 1>

Definition at line 65 of file dynamic_constraint.h.

Constructor & Destructor Documentation

◆ DynamicConstraint()

towr::DynamicConstraint::DynamicConstraint ( const DynamicModel::Ptr model,
double  T,
double  dt,
const SplineHolder spline_holder 
)

Construct a Dynamic constraint.

Parameters
modelThe system dynamics to enforce (e.g. centroidal, LIP, ...)
TThe total duration of the optimization.
dtthe discretization intervall at which to enforce constraints.
spline_holderA pointer to the current optimization variables.

Definition at line 37 of file dynamic_constraint.cc.

◆ ~DynamicConstraint()

virtual towr::DynamicConstraint::~DynamicConstraint ( )
virtualdefault

Member Function Documentation

◆ GetRow()

int towr::DynamicConstraint::GetRow ( int  k,
Dim6D  dimension 
) const
private

The row in the overall constraint for this evaluation time.

Parameters
kThe index of the constraint evaluation at t=k*dt.
dimensionWhich base acceleration dimension this constraint is for.
Returns
The constraint index in the overall dynamic constraint.

Definition at line 54 of file dynamic_constraint.cc.

◆ UpdateBoundsAtInstance()

void towr::DynamicConstraint::UpdateBoundsAtInstance ( double  t,
int  k,
VecBound b 
) const
overrideprivatevirtual

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

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

Implements towr::TimeDiscretizationConstraint.

Definition at line 67 of file dynamic_constraint.cc.

◆ UpdateConstraintAtInstance()

void towr::DynamicConstraint::UpdateConstraintAtInstance ( double  t,
int  k,
VectorXd g 
) const
overrideprivatevirtual

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

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

Implements towr::TimeDiscretizationConstraint.

Definition at line 60 of file dynamic_constraint.cc.

◆ UpdateJacobianAtInstance()

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

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

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

Implements towr::TimeDiscretizationConstraint.

Definition at line 74 of file dynamic_constraint.cc.

◆ UpdateModel()

void towr::DynamicConstraint::UpdateModel ( double  t) const
private

Updates the model with the current state and forces.

Parameters
tTime at which to query the state and force splines.

Definition at line 120 of file dynamic_constraint.cc.

Member Data Documentation

◆ base_angular_

EulerConverter towr::DynamicConstraint::base_angular_
private

angular base state

Definition at line 81 of file dynamic_constraint.h.

◆ base_linear_

NodeSpline::Ptr towr::DynamicConstraint::base_linear_
private

lin. base pos/vel/acc in world frame

Definition at line 80 of file dynamic_constraint.h.

◆ ee_forces_

std::vector<NodeSpline::Ptr> towr::DynamicConstraint::ee_forces_
private

endeffector forces in world frame.

Definition at line 82 of file dynamic_constraint.h.

◆ ee_motion_

std::vector<NodeSpline::Ptr> towr::DynamicConstraint::ee_motion_
private

endeffector position in world frame.

Definition at line 83 of file dynamic_constraint.h.

◆ model_

DynamicModel::Ptr towr::DynamicConstraint::model_
mutableprivate

the dynamic model (e.g. Centroidal)

Definition at line 85 of file dynamic_constraint.h.


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


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22