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

Makes sure all the phase durations sum up to the total time. More...

#include <total_duration_constraint.h>

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

using EE = uint
 
- 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

void FillJacobianBlock (std::string var_set, Jacobian &) const override
 
VecBound GetBounds () const override
 
VectorXd GetValues () const override
 
void InitVariableDependedQuantities (const VariablesPtr &x) override
 
 TotalDurationConstraint (double T_total, int ee)
 
 ~TotalDurationConstraint ()=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

EE ee_
 
PhaseDurations::Ptr phase_durations_
 
double T_total_
 

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

Makes sure all the phase durations sum up to the total time.

When optimizing over the phase durations of each foot, this constraint makes sure that: t_phase_1 + ... + t_phase_(n-1) = T_total.

Attention: At this point last phase duration is not an optimization variable and a way should be found to optimize over all phases while setting the total duration by constraint and not through hard parameterization.

Definition at line 52 of file total_duration_constraint.h.

Member Typedef Documentation

◆ EE

Definition at line 54 of file total_duration_constraint.h.

Constructor & Destructor Documentation

◆ TotalDurationConstraint()

towr::TotalDurationConstraint::TotalDurationConstraint ( double  T_total,
int  ee 
)

Definition at line 36 of file total_duration_constraint.cc.

◆ ~TotalDurationConstraint()

towr::TotalDurationConstraint::~TotalDurationConstraint ( )
default

Member Function Documentation

◆ FillJacobianBlock()

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

Implements ifopt::ConstraintSet.

Definition at line 67 of file total_duration_constraint.cc.

◆ GetBounds()

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

Implements ifopt::Component.

Definition at line 58 of file total_duration_constraint.cc.

◆ GetValues()

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

Implements ifopt::Component.

Definition at line 50 of file total_duration_constraint.cc.

◆ InitVariableDependedQuantities()

void towr::TotalDurationConstraint::InitVariableDependedQuantities ( const VariablesPtr x)
override

Definition at line 44 of file total_duration_constraint.cc.

Member Data Documentation

◆ ee_

EE towr::TotalDurationConstraint::ee_
private

Definition at line 68 of file total_duration_constraint.h.

◆ phase_durations_

PhaseDurations::Ptr towr::TotalDurationConstraint::phase_durations_
private

Definition at line 66 of file total_duration_constraint.h.

◆ T_total_

double towr::TotalDurationConstraint::T_total_
private

Definition at line 67 of file total_duration_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