towr::SplineAccConstraint Class Reference

Ensures continuous accelerations between polynomials. More...

#include <spline_acc_constraint.h>

Inheritance diagram for towr::SplineAccConstraint:

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< 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 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.

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

• spline_acc_constraint.h
• spline_acc_constraint.cc