Class SimpleQuadrupedGaitProblem

Defined in File quadruped-gaits.hpp

Class Documentation

class SimpleQuadrupedGaitProblem

Public Functions

SimpleQuadrupedGaitProblem(const pinocchio::Model &rmodel, const std::string &lf_foot, const std::string &rf_foot, const std::string &lh_foot, const std::string &rh_foot)

~SimpleQuadrupedGaitProblem()

std::shared_ptr<crocoddyl::ShootingProblem> createWalkingProblem(const Eigen::VectorXd &x0, const double stepLength, const double stepHeight, const double timeStep, const std::size_t stepKnots, const std::size_t supportKnots)

std::vector<std::shared_ptr<crocoddyl::ActionModelAbstract>> createFootStepModels(const double timeStep, Eigen::Vector3d &comPos0, std::vector<Eigen::Vector3d> &feetPos0, const double stepLength, const double stepHeight, const std::size_t numKnots, const std::vector<pinocchio::FrameIndex> &supportFootIds, const std::vector<pinocchio::FrameIndex> &swingFootIds)

std::shared_ptr<ActionModelAbstract> createSwingFootModel(const double timeStep, const std::vector<pinocchio::FrameIndex> &supportFootIds, const Eigen::Vector3d &comTask = Eigen::Vector3d::Constant(std::numeric_limits<double>::infinity()), const std::vector<pinocchio::FrameIndex> &swingFootIds = std::vector<pinocchio::FrameIndex>(), const std::vector<pinocchio::SE3> &swingFootTask = std::vector<pinocchio::SE3>())

std::shared_ptr<ActionModelAbstract> createFootSwitchModel(const std::vector<pinocchio::FrameIndex> &supportFootIds, const std::vector<pinocchio::FrameIndex> &swingFootIds, const std::vector<pinocchio::SE3> &swingFootTask, const bool pseudoImpulse = false)

std::shared_ptr<ActionModelAbstract> createPseudoImpulseModel(const std::vector<pinocchio::FrameIndex> &supportFootIds, const std::vector<pinocchio::FrameIndex> &swingFootIds, const std::vector<pinocchio::SE3> &swingFootTask)

std::shared_ptr<ActionModelAbstract> createImpulseModel(const std::vector<pinocchio::FrameIndex> &supportFootIds, const std::vector<pinocchio::FrameIndex> &swingFootIds, const std::vector<pinocchio::SE3> &ref_swingFootTask)

const Eigen::VectorXd &get_defaultState() const

Protected Attributes

pinocchio::Model rmodel_

pinocchio::Data rdata_

pinocchio::FrameIndex lf_foot_id_

pinocchio::FrameIndex rf_foot_id_

pinocchio::FrameIndex lh_foot_id_

pinocchio::FrameIndex rh_foot_id_

std::shared_ptr<StateMultibody> state_

std::shared_ptr<ActuationModelFloatingBase> actuation_

bool firtstep_

Eigen::VectorXd defaultstate_