phase_durations.h
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29 
30 #ifndef TOWR_VARIABLES_CONTACT_SCHEDULE_H_
31 #define TOWR_VARIABLES_CONTACT_SCHEDULE_H_
32 
33 #include <ifopt/variable_set.h>
34 
36 
37 namespace towr {
38 
51 public:
52  using Ptr = std::shared_ptr<PhaseDurations>;
53  using VecDurations = std::vector<double>;
54  using EndeffectorID = uint;
55 
56 
65  const VecDurations& initial_durations,
66  bool is_first_phase_in_contact,
67  double min_phase_duration,
68  double max_phase_duration);
69  virtual ~PhaseDurations () = default;
70 
75 
79  VectorXd GetValues() const override;
80 
84  void SetVariables(const VectorXd& x) override;
85 
89  VecBound GetBounds () const override;
90 
106  Jacobian GetJacobianOfPos(int phase, const VectorXd& dx_dT, const VectorXd& xd) const;
107 
112  void AddObserver(PhaseDurationsObserver* const spline);
113 
118  bool IsContactPhase(double t) const;
119 
120 private:
122 
123  double t_total_;
126 
127  std::vector<PhaseDurationsObserver*> observers_;
128  void UpdateObservers() const;
129 };
130 
131 } /* namespace towr */
132 
133 #endif /* TOWR_VARIABLES_CONTACT_SCHEDULE_H_ */
Jacobian GetJacobianOfPos(int phase, const VectorXd &dx_dT, const VectorXd &xd) const
How a change in the phase durations affect the position of a spline.
ifopt::Bounds phase_duration_bounds_
Base class to receive up-to-date values of the ContactSchedule.
VectorXd GetValues() const override
VecBound GetBounds() const override
virtual ~PhaseDurations()=default
std::shared_ptr< Component > Ptr
A variable set composed of the phase durations of an endeffector.
bool IsContactPhase(double t) const
Whether the endeffector is in contact with the environment.
PhaseDurations(EndeffectorID ee, const VecDurations &initial_durations, bool is_first_phase_in_contact, double min_phase_duration, double max_phase_duration)
Constructs a variable set for a specific endeffector.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
void UpdateObservers() const
std::vector< double > VecDurations
VecDurations GetPhaseDurations() const
void SetVariables(const VectorXd &x) override
Sets the phase durations from pure Eigen optimization variables.
bool initial_contact_state_
true if first phase in contact
void AddObserver(PhaseDurationsObserver *const spline)
Adds observer that is updated every time new variables are set.
std::vector< Bounds > VecBound
std::vector< PhaseDurationsObserver * > observers_
Eigen::VectorXd VectorXd


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