Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
towr Namespace Reference

Namespaces

 id
 Identifiers (names) used for variables in the optimization problem.
 

Classes

class  AnymalDynamicModel
 The Dynamics of the quadruped robot ANYmal. More...
 
class  AnymalKinematicModel
 The Kinematics of the quadruped robot ANYmal. More...
 
class  BaseMotionConstraint
 Keeps the 6D base motion in a specified range. More...
 
struct  BaseState
 Can represent the 6Degree-of-Freedom floating base of a robot. More...
 
class  BipedDynamicModel
 The Dynamics of a tow-legged robot built from HyQ legs. More...
 
class  BipedGaitGenerator
 Produces the contact sequence for a variety of two-legged gaits. More...
 
class  BipedKinematicModel
 The Kinematics of a tow-legged robot built from HyQ legs. More...
 
class  Block
 Sample terrain with a step in height in x-direction. More...
 
class  Chimney
 Sample terrain with a tilted vertical wall to cross a gap. More...
 
class  ChimneyLR
 Sample terrain with two tilted vertical walls to cross a gap. More...
 
class  CubicHermitePolynomial
 Represents a Cubic-Hermite-Polynomial. More...
 
class  DynamicConstraint
 Ensure that the optimized motion complies with the system dynamics. More...
 
class  DynamicModel
 A interface for the the system dynamics of a legged robot. More...
 
class  EulerConverter
 Converts Euler angles and derivatives to angular quantities. More...
 
class  FlatGround
 Sample terrain of even height. More...
 
class  ForceConstraint
 Ensures foot force that is unilateral and inside friction cone. More...
 
class  GaitGenerator
 Generates endeffector phase durations for predefined gait styles. More...
 
class  Gap
 Sample terrain with parabola-modeled gap in x-direction. More...
 
class  HeightMap
 Holds the height and slope information of the terrain. More...
 
class  HyqDynamicModel
 The Dynamics of the quadruped robot HyQ. More...
 
class  HyqKinematicModel
 The Kinematics of the quadruped robot HyQ. More...
 
class  KinematicModel
 Contains all the robot specific kinematic parameters. More...
 
class  LinearEqualityConstraint
 Calculates the constraint violations for linear constraints. More...
 
class  MonopedDynamicModel
 The Dynamics of a one-legged hopper with HyQ leg. More...
 
class  MonopedGaitGenerator
 Produces the contact sequence for a variety of one-legged gaits. More...
 
class  MonopedKinematicModel
 The Kinematics of a one-legged hopper with HyQ leg. More...
 
class  NlpFormulation
 A sample combination of variables, cost and constraints. More...
 
class  Node
 A node represents the state of a trajectory at a specific time. More...
 
class  NodeCost
 Assigns a cost to node values. More...
 
class  NodesObserver
 Base class to receive up-to-date values of the NodeVariables. More...
 
class  NodeSpline
 A spline built from node values and fixed polynomial durations. More...
 
class  NodesVariables
 Position and velocity of nodes used to generate a Hermite spline. More...
 
class  NodesVariablesAll
 Node variables used to construct the base motion spline. More...
 
class  NodesVariablesEEForce
 Variables fully defining the endeffector forces. More...
 
class  NodesVariablesEEMotion
 Variables fully defining the endeffector motion. More...
 
class  NodesVariablesPhaseBased
 Nodes that are associated to either swing or stance phases. More...
 
class  Parameters
 The parameters to tune the optimization problem. More...
 
class  PhaseDurations
 A variable set composed of the phase durations of an endeffector. More...
 
class  PhaseDurationsObserver
 Base class to receive up-to-date values of the ContactSchedule. More...
 
class  PhaseSpline
 A spline built from node values and polynomial durations. More...
 
class  Polynomial
 A polynomial of arbitrary order and dimension. More...
 
class  QuadrupedGaitGenerator
 Produces the contact sequence for a variety of four-legged gaits. More...
 
class  RangeOfMotionConstraint
 Constrains an endeffector to lie in a box around the nominal stance. More...
 
struct  RobotModel
 Base class for robot specific kinematics and dynamics. More...
 
class  SingleRigidBodyDynamics
 Dynamics model relating forces to base accelerations. More...
 
class  Slope
 Sample terrain with an increasing and then decreasing slope in x-direction. More...
 
class  SoftConstraint
 Converts a constraint to a cost by weighing the quadratic violations. More...
 
class  Spline
 A spline built from a sequence of cubic polynomials. More...
 
class  SplineAccConstraint
 Ensures continuous accelerations between polynomials. More...
 
struct  SplineHolder
 Builds splines from node values (pos/vel) and durations. More...
 
class  Stairs
 Sample terrain with a two-steps in height in x-direction. More...
 
class  State
 Stores at state comprised of values and higher-order derivatives. More...
 
class  SwingConstraint
 Constrains the foot position during the swing-phase. More...
 
class  TerrainConstraint
 Ensures the endeffectors always lays on or above terrain height. More...
 
class  TimeDiscretizationConstraint
 Constraints evaluated at discretized times along a trajectory. More...
 
class  TotalDurationConstraint
 Makes sure all the phase durations sum up to the total time. More...
 

Typedefs

using VectorXd = Eigen::VectorXd
 

Enumerations

enum  BipedIDs { L, R }
 
enum  Dim2D { X_ =0, Y_ }
 
enum  Dim3D { X =0, Y, Z }
 
enum  Dim6D {
  AX =0, AY, AZ, LX,
  LY, LZ
}
 
enum  Dx { kPos =0, kVel, kAcc, kJerk }
 < the values or derivative. For motions e.g. position, velocity, ... More...
 
enum  QuadrupedIDs { LF, RF, LH, RH }
 

Functions

static Eigen::Matrix3d BuildInertiaTensor (double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz)
 
std::vector< NodesVariablesPhaseBased::PolyInfoBuildPolyInfos (int phase_count, bool first_phase_constant, int n_polys_in_changing_phase)
 
SingleRigidBodyDynamics::Jac Cross (const Eigen::Vector3d &in)
 
 TEST (DynamicModelTest, GetBaseAcceleration)
 
 TEST (DynamicConstraintTest, UpdateConstraintValues)
 
 TEST (DynamicModelTest, GetJacobianOfAccWrtBase)
 
 TEST (DynamicModelTest, TestRotations)
 
static Dim2D To2D (Dim3D dim)
 

Variables

static const Dim6D AllDim6D [] = {AX, AY, AZ, LX, LY, LZ}
 
static constexpr int k2D = 2
 
static constexpr int k3D = 3
 
static constexpr int k6D = 6
 
static const std::map< RobotModel::Robot, std::string > robot_names
 
static const std::map< HeightMap::TerrainID, std::string > terrain_names
 

Typedef Documentation

◆ VectorXd

using towr::VectorXd = typedef Eigen::VectorXd

Definition at line 37 of file dynamic_constraint_test.cc.

Enumeration Type Documentation

◆ BipedIDs

Enumerator

Definition at line 43 of file endeffector_mappings.h.

◆ Dim2D

Enumerator
X_ 
Y_ 

Definition at line 45 of file cartesian_dimensions.h.

◆ Dim3D

Enumerator

Definition at line 49 of file cartesian_dimensions.h.

◆ Dim6D

Enumerator
AX 
AY 
AZ 
LX 
LY 
LZ 

Definition at line 59 of file cartesian_dimensions.h.

◆ Dx

enum towr::Dx

< the values or derivative. For motions e.g. position, velocity, ...

Enumerator
kPos 
kVel 
kAcc 
kJerk 

Definition at line 41 of file state.h.

◆ QuadrupedIDs

Enumerator
LF 
RF 
LH 
RH 

Definition at line 44 of file endeffector_mappings.h.

Function Documentation

◆ BuildInertiaTensor()

static Eigen::Matrix3d towr::BuildInertiaTensor ( double  Ixx,
double  Iyy,
double  Izz,
double  Ixy,
double  Ixz,
double  Iyz 
)
static

Definition at line 36 of file single_rigid_body_dynamics.cc.

◆ BuildPolyInfos()

std::vector<NodesVariablesPhaseBased::PolyInfo> towr::BuildPolyInfos ( int  phase_count,
bool  first_phase_constant,
int  n_polys_in_changing_phase 
)

Definition at line 39 of file nodes_variables_phase_based.cc.

◆ Cross()

SingleRigidBodyDynamics::Jac towr::Cross ( const Eigen::Vector3d &  in)

Definition at line 48 of file single_rigid_body_dynamics.cc.

◆ TEST() [1/4]

towr::TEST ( DynamicModelTest  ,
GetBaseAcceleration   
)

Definition at line 36 of file dynamic_model_test.cc.

◆ TEST() [2/4]

towr::TEST ( DynamicConstraintTest  ,
UpdateConstraintValues   
)

Definition at line 40 of file dynamic_constraint_test.cc.

◆ TEST() [3/4]

towr::TEST ( DynamicModelTest  ,
GetJacobianOfAccWrtBase   
)

Definition at line 41 of file dynamic_model_test.cc.

◆ TEST() [4/4]

towr::TEST ( DynamicModelTest  ,
TestRotations   
)

Definition at line 46 of file dynamic_model_test.cc.

◆ To2D()

static Dim2D towr::To2D ( Dim3D  dim)
static

Definition at line 50 of file cartesian_dimensions.h.

Variable Documentation

◆ AllDim6D

const Dim6D towr::AllDim6D[] = {AX, AY, AZ, LX, LY, LZ}
static

Definition at line 60 of file cartesian_dimensions.h.

◆ k2D

constexpr int towr::k2D = 2
static

Definition at line 44 of file cartesian_dimensions.h.

◆ k3D

constexpr int towr::k3D = 3
static

Definition at line 48 of file cartesian_dimensions.h.

◆ k6D

constexpr int towr::k6D = 6
static

Definition at line 58 of file cartesian_dimensions.h.

◆ robot_names

const std::map<RobotModel::Robot, std::string> towr::robot_names
static
Initial value:
=
{
{RobotModel::Monoped, "Monoped"},
{RobotModel::Biped, "Biped"},
{RobotModel::Hyq, "Hyq"},
{RobotModel::Anymal, "Anymal"}
}

Definition at line 85 of file robot_model.h.

◆ terrain_names

const std::map<HeightMap::TerrainID, std::string> towr::terrain_names
static
Initial value:
=
{
{HeightMap::FlatID, "Flat" },
{HeightMap::BlockID, "Block" },
{HeightMap::StairsID, "Stairs" },
{HeightMap::GapID, "Gap" },
{HeightMap::SlopeID, "Slope" },
{HeightMap::ChimneyID, "Chimney" },
{HeightMap::ChimneyLRID, "ChimenyLR" }
}

Definition at line 174 of file height_map.h.



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