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

Ensures continuous accelerations between polynomials. More...

#include <spline_acc_constraint.h>

Inheritance diagram for towr::SplineAccConstraint:
Inheritance graph
[legend]

Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const override
 
VecBound GetBounds () const override
 
VectorXd GetValues () const override
 
 SplineAccConstraint (const NodeSpline::Ptr &spline, std::string name)
 
virtual ~SplineAccConstraint ()=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 Attributes

int n_dim_
 dimensions that this polynomial represents (e.g. x,y). More...
 
int n_junctions_
 polynomial parameterized node values More...
 
std::string node_variables_id_
 
NodeSpline::Ptr spline_
 a spline comprised of polynomials More...
 
std::vector< double > T_
 Duration of each polynomial in spline. More...
 

Additional Inherited Members

- 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
 
- Static Public Attributes inherited from ifopt::Component
static const int kSpecifyLater
 
- Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr GetVariables () const
 

Detailed Description

Ensures continuous accelerations between polynomials.

This is used to restrict jumps in linear and angular base accelerations, since this would require jumps in foot positions or endeffector forces, which aren't allowed in our formulation.

Definition at line 48 of file spline_acc_constraint.h.

Constructor & Destructor Documentation

◆ SplineAccConstraint()

towr::SplineAccConstraint::SplineAccConstraint ( const NodeSpline::Ptr spline,
std::string  name 
)

Definition at line 34 of file spline_acc_constraint.cc.

◆ ~SplineAccConstraint()

virtual towr::SplineAccConstraint::~SplineAccConstraint ( )
virtualdefault

Member Function Documentation

◆ FillJacobianBlock()

void towr::SplineAccConstraint::FillJacobianBlock ( std::string  var_set,
Jacobian jac 
) const
overridevirtual

Implements ifopt::ConstraintSet.

Definition at line 67 of file spline_acc_constraint.cc.

◆ GetBounds()

SplineAccConstraint::VecBound towr::SplineAccConstraint::GetBounds ( ) const
overridevirtual

Implements ifopt::Component.

Definition at line 83 of file spline_acc_constraint.cc.

◆ GetValues()

Eigen::VectorXd towr::SplineAccConstraint::GetValues ( ) const
overridevirtual

Implements ifopt::Component.

Definition at line 49 of file spline_acc_constraint.cc.

Member Data Documentation

◆ n_dim_

int towr::SplineAccConstraint::n_dim_
private

dimensions that this polynomial represents (e.g. x,y).

Definition at line 62 of file spline_acc_constraint.h.

◆ n_junctions_

int towr::SplineAccConstraint::n_junctions_
private

polynomial parameterized node values

number of junctions between polynomials in spline.

Definition at line 61 of file spline_acc_constraint.h.

◆ node_variables_id_

std::string towr::SplineAccConstraint::node_variables_id_
private

Definition at line 59 of file spline_acc_constraint.h.

◆ spline_

NodeSpline::Ptr towr::SplineAccConstraint::spline_
private

a spline comprised of polynomials

Definition at line 58 of file spline_acc_constraint.h.

◆ T_

std::vector<double> towr::SplineAccConstraint::T_
private

Duration of each polynomial in spline.

Definition at line 63 of file spline_acc_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