Ensures the endeffectors always lays on or above terrain height. More...
#include <terrain_constraint.h>
Public Member Functions | |
| void | FillJacobianBlock (std::string var_set, Jacobian &) const override |
| VecBound | GetBounds () const override |
| VectorXd | GetValues () const override |
| void | InitVariableDependedQuantities (const VariablesPtr &x) override |
| TerrainConstraint (const HeightMap::Ptr &terrain, std::string ee_motion_id) | |
| Constructs a terrain constraint. | |
| virtual | ~TerrainConstraint () |
Private Attributes | |
| NodesVariablesPhaseBased::Ptr | ee_motion_ |
| the position of the endeffector. | |
| std::string | ee_motion_id_ |
| the name of the endeffector variable set. | |
| std::vector< int > | node_ids_ |
| the indices of the nodes constrained. | |
| HeightMap::Ptr | terrain_ |
| the height map of the current terrain. | |
Ensures the endeffectors always lays on or above terrain height.
When using interior point solvers such as IPOPT to solve the problem, this constraint also keeps the foot nodes far from the terrain, causing a leg lifting during swing-phase. This is convenient.
Attention: This is enforced only at the spline nodes.
Definition at line 51 of file terrain_constraint.h.
| towr::TerrainConstraint::TerrainConstraint | ( | const HeightMap::Ptr & | terrain, |
| std::string | ee_motion_id | ||
| ) |
Constructs a terrain constraint.
| terrain | The terrain height value and slope for each position x,y. |
| ee_motion_id | The name of the endeffector variable set. |
Definition at line 36 of file terrain_constraint.cc.
| virtual towr::TerrainConstraint::~TerrainConstraint | ( | ) | [virtual] |
| void towr::TerrainConstraint::FillJacobianBlock | ( | std::string | var_set, |
| Jacobian & | jac | ||
| ) | const [override] |
Definition at line 91 of file terrain_constraint.cc.
| TerrainConstraint::VecBound towr::TerrainConstraint::GetBounds | ( | ) | const [override] |
Definition at line 73 of file terrain_constraint.cc.
| Eigen::VectorXd towr::TerrainConstraint::GetValues | ( | ) | const [override] |
Definition at line 58 of file terrain_constraint.cc.
| void towr::TerrainConstraint::InitVariableDependedQuantities | ( | const VariablesPtr & | x | ) | [override] |
Definition at line 45 of file terrain_constraint.cc.
NodesVariablesPhaseBased::Ptr towr::TerrainConstraint::ee_motion_ [private] |
the position of the endeffector.
Definition at line 70 of file terrain_constraint.h.
std::string towr::TerrainConstraint::ee_motion_id_ [private] |
the name of the endeffector variable set.
Definition at line 73 of file terrain_constraint.h.
std::vector<int> towr::TerrainConstraint::node_ids_ [private] |
the indices of the nodes constrained.
Definition at line 74 of file terrain_constraint.h.
HeightMap::Ptr towr::TerrainConstraint::terrain_ [private] |
the height map of the current terrain.
Definition at line 71 of file terrain_constraint.h.