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::PolyInfo >	BuildPolyInfos (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

enum towr::BipedIDs

Enumerator
L
R

Definition at line 43 of file endeffector_mappings.h.

◆ Dim2D

enum towr::Dim2D

Enumerator
X_
Y_

Definition at line 45 of file cartesian_dimensions.h.

◆ Dim3D

enum towr::Dim3D

Enumerator
X
Y
Z

Definition at line 49 of file cartesian_dimensions.h.

◆ Dim6D

enum towr::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

enum towr::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.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ VectorXd

Enumeration Type Documentation

◆ BipedIDs

◆ Dim2D

◆ Dim3D

◆ Dim6D

◆ Dx

◆ QuadrupedIDs

Function Documentation

◆ BuildInertiaTensor()

◆ BuildPolyInfos()

◆ Cross()

◆ TEST() [1/4]

◆ TEST() [2/4]

◆ TEST() [3/4]

◆ TEST() [4/4]

◆ To2D()

Variable Documentation

◆ AllDim6D

◆ k2D

◆ k3D

◆ k6D

◆ robot_names

◆ terrain_names