terrain_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
37 
38 namespace towr {
39 
52 public:
53  using Vector3d = Eigen::Vector3d;
54 
60  TerrainConstraint (const HeightMap::Ptr& terrain, std::string ee_motion_id);
61  virtual ~TerrainConstraint () = default;
62 
63  void InitVariableDependedQuantities(const VariablesPtr& x) override;
64 
65  VectorXd GetValues() const override;
66  VecBound GetBounds() const override;
67  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
68 
69 private:
72 
73  std::string ee_motion_id_;
74  std::vector<int> node_ids_;
75 };
76 
77 } /* namespace towr */
78 
79 #endif /* TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_ */
VecBound GetBounds() const override
Composite::Ptr VariablesPtr
VectorXd GetValues() const override
std::shared_ptr< NodesVariablesPhaseBased > Ptr
std::string ee_motion_id_
the name of the endeffector variable set.
NodesVariablesPhaseBased::Ptr ee_motion_
the position of the endeffector.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Ensures the endeffectors always lays on or above terrain height.
HeightMap::Ptr terrain_
the height map of the current terrain.
void FillJacobianBlock(std::string var_set, Jacobian &) const override
std::vector< int > node_ids_
the indices of the nodes constrained.
virtual ~TerrainConstraint()=default
std::vector< Bounds > VecBound
std::shared_ptr< HeightMap > Ptr
Definition: height_map.h:73
TerrainConstraint(const HeightMap::Ptr &terrain, std::string ee_motion_id)
Constructs a terrain constraint.
void InitVariableDependedQuantities(const VariablesPtr &x) override
Eigen::VectorXd VectorXd


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