force_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
36 #include <towr/terrain/height_map.h> // for friction cone
37 
38 namespace towr {
39 
56 public:
57  using Vector3d = Eigen::Vector3d;
58  using EE = uint;
59 
66  ForceConstraint (const HeightMap::Ptr& terrain,
67  double force_limit_in_normal_direction,
68  EE endeffector_id);
69  virtual ~ForceConstraint () = default;
70 
71  void InitVariableDependedQuantities(const VariablesPtr& x) override;
72 
73  VectorXd GetValues() const override;
74  VecBound GetBounds() const override;
75  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
76 
77 private:
80 
82  double fn_max_;
83  double mu_;
85  EE ee_;
86 
91  std::vector<int> pure_stance_force_node_ids_;
92 };
93 
94 } /* namespace towr */
95 
96 #endif /* TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_ */
std::vector< int > pure_stance_force_node_ids_
double mu_
friction coeff between robot feet and terrain.
void FillJacobianBlock(std::string var_set, Jacobian &) const override
ForceConstraint(const HeightMap::Ptr &terrain, double force_limit_in_normal_direction, EE endeffector_id)
Constructs a force contraint.
Composite::Ptr VariablesPtr
Eigen::Vector3d Vector3d
void InitVariableDependedQuantities(const VariablesPtr &x) override
virtual ~ForceConstraint()=default
std::shared_ptr< NodesVariablesPhaseBased > Ptr
double fn_max_
force limit in normal direction.
VecBound GetBounds() const override
EE ee_
The endeffector force to be constrained.
int n_constraints_per_node_
number of constraint for each node.
NodesVariablesPhaseBased::Ptr ee_force_
the current xyz foot forces.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
VectorXd GetValues() const override
Ensures foot force that is unilateral and inside friction cone.
HeightMap::Ptr terrain_
gradient information at every position (x,y).
NodesVariablesPhaseBased::Ptr ee_motion_
the current xyz foot positions.
std::vector< Bounds > VecBound
std::shared_ptr< HeightMap > Ptr
Definition: height_map.h:73
Eigen::VectorXd VectorXd


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