Constraints of the trajectory optimization problem. More...
Classes | |
| class | towr::BaseMotionConstraint |
| Keeps the 6D base motion in a specified range. More... | |
| class | towr::DynamicConstraint |
| Ensure that the optimized motion complies with the system dynamics. More... | |
| class | towr::ForceConstraint |
| Ensures foot force that is unilateral and inside friction cone. More... | |
| class | towr::LinearEqualityConstraint |
| Calculates the constraint violations for linear constraints. More... | |
| class | towr::RangeOfMotionConstraint |
| Constrains an endeffector to lie in a box around the nominal stance. More... | |
| class | towr::SplineAccConstraint |
| Ensures continuous accelerations between polynomials. More... | |
| class | towr::SwingConstraint |
| Constrains the foot position during the swing-phase. More... | |
| class | towr::TerrainConstraint |
| Ensures the endeffectors always lays on or above terrain height. More... | |
| class | towr::TimeDiscretizationConstraint |
| Constraints evaluated at discretized times along a trajectory. More... | |
| class | towr::TotalDurationConstraint |
| Makes sure all the phase durations sum up to the total time. More... | |
Constraints of the trajectory optimization problem.
These are the constraint sets that characterize legged locomotion.
Folder: include/towr/constraints