total_duration_constraint.cc
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29 
32 
33 namespace towr {
34 
35 
37  :ConstraintSet(1, "totalduration-" + std::to_string(ee))
38 {
39  T_total_ = T_total;
40  ee_ = ee;
41 }
42 
43 void
45 {
47 }
48 
51 {
52  VectorXd g = VectorXd::Zero(GetRows());
53  g(0) = phase_durations_->GetValues().sum(); // attention: excludes last duration
54  return g;
55 }
56 
59 {
60  // TODO hacky and should be fixed
61  // since last phase is not optimized over these hardcoded numbers go here
62  double min_duration_last_phase = 0.2;
63  return VecBound(GetRows(), ifopt::Bounds(0.1, T_total_-min_duration_last_phase));
64 }
65 
66 void
67 TotalDurationConstraint::FillJacobianBlock (std::string var_set, Jacobian& jac) const
68 {
69  if (var_set == phase_durations_->GetName())
70  for (int col=0; col<phase_durations_->GetRows(); ++col)
71  jac.coeffRef(0, col) = 1.0;
72 }
73 
74 } // namespace towr
Composite::Ptr VariablesPtr
TotalDurationConstraint(double T_total, int ee)
Eigen::VectorXd VectorXd
static std::string EESchedule(uint ee)
int GetRows() const
A variable set composed of the phase durations of an endeffector.
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
void InitVariableDependedQuantities(const VariablesPtr &x) override
std::vector< Bounds > VecBound
Eigen::VectorXd VectorXd


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