Classes
Constraints

Constraints of the trajectory optimization problem. More...

Classes

class  towr::BaseMotionConstraint
 Keeps the 6D base motion in a specified range. More...
 
class  towr::DynamicConstraint
 Ensure that the optimized motion complies with the system dynamics. More...
 
class  towr::ForceConstraint
 Ensures foot force that is unilateral and inside friction cone. More...
 
class  towr::LinearEqualityConstraint
 Calculates the constraint violations for linear constraints. More...
 
class  towr::RangeOfMotionConstraint
 Constrains an endeffector to lie in a box around the nominal stance. More...
 
class  towr::SplineAccConstraint
 Ensures continuous accelerations between polynomials. More...
 
class  towr::SwingConstraint
 Constrains the foot position during the swing-phase. More...
 
class  towr::TerrainConstraint
 Ensures the endeffectors always lays on or above terrain height. More...
 
class  towr::TimeDiscretizationConstraint
 Constraints evaluated at discretized times along a trajectory. More...
 
class  towr::TotalDurationConstraint
 Makes sure all the phase durations sum up to the total time. More...
 

Detailed Description

Constraints of the trajectory optimization problem.

These are the constraint sets that characterize legged locomotion.

Folder: include/towr/constraints



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