range_of_motion_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_RANGE_OF_MOTION_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_RANGE_OF_MOTION_CONSTRAINT_H_
32 
33 #include <towr/variables/spline.h>
36 
38 
40 
41 namespace towr {
42 
56 public:
57  using EE = uint;
58  using Vector3d = Eigen::Vector3d;
59 
69  double T, double dt,
70  const EE& ee,
71  const SplineHolder& spline_holder);
72  virtual ~RangeOfMotionConstraint() = default;
73 
74 private:
78 
79  Eigen::Vector3d max_deviation_from_nominal_;
80  Eigen::Vector3d nominal_ee_pos_B_;
82 
83  // see TimeDiscretizationConstraint for documentation
84  void UpdateConstraintAtInstance (double t, int k, VectorXd& g) const override;
85  void UpdateBoundsAtInstance (double t, int k, VecBound&) const override;
86  void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
87 
88  int GetRow(int node, int dimension) const;
89 };
90 
91 } /* namespace towr */
92 
93 #endif /* TOWR_CONSTRAINTS_RANGE_OF_MOTION_CONSTRAINT_H_ */
Constraints evaluated at discretized times along a trajectory.
NodeSpline::Ptr ee_motion_
the linear position of the endeffectors.
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
int GetRow(int node, int dimension) const
std::shared_ptr< KinematicModel > Ptr
Builds splines from node values (pos/vel) and durations.
Definition: spline_holder.h:47
Converts Euler angles and derivatives to angular quantities.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
EulerConverter base_angular_
the orientation of the base.
Constrains an endeffector to lie in a box around the nominal stance.
RangeOfMotionConstraint(const KinematicModel::Ptr &robot_model, double T, double dt, const EE &ee, const SplineHolder &spline_holder)
Constructs a constraint instance.
virtual ~RangeOfMotionConstraint()=default
void UpdateConstraintAtInstance(double t, int k, VectorXd &g) const override
Sets the constraint value a specific time t, corresponding to node k.
NodeSpline::Ptr base_linear_
the linear position of the base.
void UpdateBoundsAtInstance(double t, int k, VecBound &) const override
Sets upper/lower bound a specific time t, corresponding to node k.
std::vector< Bounds > VecBound
void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian &) const override
Sets Jacobian rows at a specific time t, corresponding to node k.
Eigen::VectorXd VectorXd


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