towr::TerrainConstraint Class Reference

Ensures the endeffectors always lays on or above terrain height. More...

#include <terrain_constraint.h>

Inheritance diagram for towr::TerrainConstraint:

Public Types
using	Vector3d = Eigen::Vector3d
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

Public Member Functions
void	FillJacobianBlock (std::string var_set, Jacobian &) const override
VecBound	GetBounds () const override
VectorXd	GetValues () const override
void	InitVariableDependedQuantities (const VariablesPtr &x) override
	TerrainConstraint (const HeightMap::Ptr &terrain, std::string ee_motion_id)
	Constructs a terrain constraint. More...
virtual	~TerrainConstraint ()=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
NodesVariablesPhaseBased::Ptr	ee_motion_
	the position of the endeffector. More...
std::string	ee_motion_id_
	the name of the endeffector variable set. More...
std::vector< int >	node_ids_
	the indices of the nodes constrained. More...
HeightMap::Ptr	terrain_
	the height map of the current terrain. More...

Additional Inherited Members
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 the endeffectors always lays on or above terrain height.

When using interior point solvers such as IPOPT to solve the problem, this constraint also keeps the foot nodes far from the terrain, causing a leg lifting during swing-phase. This is convenient.

Attention: This is enforced only at the spline nodes.

Definition at line 51 of file terrain_constraint.h.

Member Typedef Documentation

Vector3d

using towr::TerrainConstraint::Vector3d = Eigen::Vector3d

Definition at line 53 of file terrain_constraint.h.

Constructor & Destructor Documentation

TerrainConstraint()

towr::TerrainConstraint::TerrainConstraint	(	const HeightMap::Ptr &	terrain,
		std::string	ee_motion_id
	)

Constructs a terrain constraint.

Parameters

terrain	The terrain height value and slope for each position x,y.
ee_motion_id	The name of the endeffector variable set.

Definition at line 36 of file terrain_constraint.cc.

~TerrainConstraint()

virtual towr::TerrainConstraint::~TerrainConstraint ( )

virtualdefault

Member Function Documentation

FillJacobianBlock()

void towr::TerrainConstraint::FillJacobianBlock ( std::string  var_set, Jacobian &  jac  ) const

overridevirtual

Implements ifopt::ConstraintSet.

Definition at line 91 of file terrain_constraint.cc.

GetBounds()

TerrainConstraint::VecBound towr::TerrainConstraint::GetBounds ( ) const

overridevirtual

Implements ifopt::Component.

Definition at line 73 of file terrain_constraint.cc.

GetValues()

Eigen::VectorXd towr::TerrainConstraint::GetValues ( ) const

overridevirtual

Implements ifopt::Component.

Definition at line 58 of file terrain_constraint.cc.

InitVariableDependedQuantities()

void towr::TerrainConstraint::InitVariableDependedQuantities ( const VariablesPtr &  x )

override

Definition at line 45 of file terrain_constraint.cc.

Member Data Documentation

ee_motion_

NodesVariablesPhaseBased::Ptr towr::TerrainConstraint::ee_motion_

private

the position of the endeffector.

Definition at line 70 of file terrain_constraint.h.

ee_motion_id_

std::string towr::TerrainConstraint::ee_motion_id_

private

the name of the endeffector variable set.

Definition at line 73 of file terrain_constraint.h.

node_ids_

std::vector<int> towr::TerrainConstraint::node_ids_

private

the indices of the nodes constrained.

Definition at line 74 of file terrain_constraint.h.

terrain_

HeightMap::Ptr towr::TerrainConstraint::terrain_

private

the height map of the current terrain.

Definition at line 71 of file terrain_constraint.h.

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

• terrain_constraint.h
• terrain_constraint.cc