towr::BaseMotionConstraint Class Reference

Keeps the 6D base motion in a specified range. More...

#include <base_motion_constraint.h>

Inheritance diagram for towr::BaseMotionConstraint:

List of all members.

Public Member Functions
	BaseMotionConstraint (double T, double dt, const SplineHolder &spline_holder)
	Links the base variables and sets hardcoded bounds on the state.
void	UpdateBoundsAtInstance (double t, int k, VecBound &) const override
	Sets upper/lower bound a specific time t, corresponding to node k.
void	UpdateConstraintAtInstance (double t, int k, VectorXd &g) const override
	Sets the constraint value a specific time t, corresponding to node k.
void	UpdateJacobianAtInstance (double t, int k, std::string, Jacobian &) const override
	Sets Jacobian rows at a specific time t, corresponding to node k.
virtual	~BaseMotionConstraint ()
Private Member Functions
int	GetRow (int node, int dim) const
Private Attributes
NodeSpline::Ptr	base_angular_
NodeSpline::Ptr	base_linear_
VecBound	node_bounds_
	same bounds for each discretized node

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Detailed Description

Keeps the 6D base motion in a specified range.

In general this constraint should be avoided, since a similar affect can be achieved with RangeOfMotionConstraint.

Definition at line 48 of file base_motion_constraint.h.

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Constructor & Destructor Documentation

towr::BaseMotionConstraint::BaseMotionConstraint	(	double	T,
		double	dt,
		const SplineHolder &	spline_holder
	)

Links the base variables and sets hardcoded bounds on the state.

Parameters:

T	The total time of the optimization horizon.
dt	The discretization interval of the constraints.
spline_holder	Holds pointers to the base variables.

Definition at line 38 of file base_motion_constraint.cc.

virtual towr::BaseMotionConstraint::~BaseMotionConstraint

(

)

[virtual]

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Member Function Documentation

int towr::BaseMotionConstraint::GetRow	(	int	node,
		int	dim
	)		const [private]

Definition at line 88 of file base_motion_constraint.cc.

void towr::BaseMotionConstraint::UpdateBoundsAtInstance	(	double	t,
		int	k,
		VecBound &	b
	)		const [override, virtual]

Sets upper/lower bound a specific time t, corresponding to node k.

Parameters:

t	The time along the trajectory to set the bounds.
k	The index of the time t, so t=k*dt
in/out]	b The complete vector of bounds, for which the corresponding row must be set.

Implements towr::TimeDiscretizationConstraint.

Definition at line 69 of file base_motion_constraint.cc.

void towr::BaseMotionConstraint::UpdateConstraintAtInstance	(	double	t,
		int	k,
		VectorXd &	g
	)		const [override, virtual]

Sets the constraint value a specific time t, corresponding to node k.

Parameters:

t	The time along the trajectory to set the constraint.
k	The index of the time t, so t=k*dt
in/out]	g The complete vector of constraint values, for which the corresponding row must be filled.

Implements towr::TimeDiscretizationConstraint.

Definition at line 61 of file base_motion_constraint.cc.

void towr::BaseMotionConstraint::UpdateJacobianAtInstance	(	double	t,
		int	k,
		std::string	var_set,
		Jacobian &	jac
	)		const [override, virtual]

Sets Jacobian rows at a specific time t, corresponding to node k.

Parameters:

t	The time along the trajcetory to set the bounds.
k	The index of the time t, so t=k*dt
var_set	The name of the ifopt variables currently being queried for.
in/out]	jac The complete Jacobian, for which the corresponding row and columns must be set.

Implements towr::TimeDiscretizationConstraint.

Definition at line 76 of file base_motion_constraint.cc.

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Member Data Documentation

NodeSpline::Ptr towr::BaseMotionConstraint::base_angular_ [private]

Definition at line 65 of file base_motion_constraint.h.

NodeSpline::Ptr towr::BaseMotionConstraint::base_linear_ [private]

Definition at line 64 of file base_motion_constraint.h.

VecBound towr::BaseMotionConstraint::node_bounds_ [private]

same bounds for each discretized node

Definition at line 67 of file base_motion_constraint.h.

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The documentation for this class was generated from the following files:

• base_motion_constraint.h
• base_motion_constraint.cc