Namespaces | |
| namespace | id |
Identifiers (names) used for variables in the optimization problem. | |
Classes | |
| class | AnymalDynamicModel |
| The Dynamics of the quadruped robot ANYmal. More... | |
| class | AnymalKinematicModel |
| The Kinematics of the quadruped robot ANYmal. More... | |
| class | BaseMotionConstraint |
| Keeps the 6D base motion in a specified range. More... | |
| struct | BaseState |
| Can represent the 6Degree-of-Freedom floating base of a robot. More... | |
| class | BipedDynamicModel |
| The Dynamics of a tow-legged robot built from HyQ legs. More... | |
| class | BipedGaitGenerator |
| Produces the contact sequence for a variety of two-legged gaits. More... | |
| class | BipedKinematicModel |
| The Kinematics of a tow-legged robot built from HyQ legs. More... | |
| class | Block |
| Sample terrain with a step in height in x-direction. More... | |
| class | Chimney |
| Sample terrain with a tilted vertical wall to cross a gap. More... | |
| class | ChimneyLR |
| Sample terrain with two tilted vertical walls to cross a gap. More... | |
| class | CubicHermitePolynomial |
| Represents a Cubic-Hermite-Polynomial. More... | |
| class | DynamicConstraint |
| Ensure that the optimized motion complies with the system dynamics. More... | |
| class | DynamicModel |
| A interface for the the system dynamics of a legged robot. More... | |
| class | EulerConverter |
| Converts Euler angles and derivatives to angular quantities. More... | |
| class | FlatGround |
| Sample terrain of even height. More... | |
| class | ForceConstraint |
| Ensures foot force that is unilateral and inside friction cone. More... | |
| class | GaitGenerator |
| Generates endeffector phase durations for predefined gait styles. More... | |
| class | Gap |
| Sample terrain with parabola-modeled gap in x-direction. More... | |
| class | HeightMap |
| Holds the height and slope information of the terrain. More... | |
| class | HyqDynamicModel |
| The Dynamics of the quadruped robot HyQ. More... | |
| class | HyqKinematicModel |
| The Kinematics of the quadruped robot HyQ. More... | |
| class | KinematicModel |
| Contains all the robot specific kinematic parameters. More... | |
| class | LinearEqualityConstraint |
| Calculates the constraint violations for linear constraints. More... | |
| class | MonopedDynamicModel |
| The Dynamics of a one-legged hopper with HyQ leg. More... | |
| class | MonopedGaitGenerator |
| Produces the contact sequence for a variety of one-legged gaits. More... | |
| class | MonopedKinematicModel |
| The Kinematics of a one-legged hopper with HyQ leg. More... | |
| class | NlpFormulation |
| A sample combination of variables, cost and constraints. More... | |
| class | Node |
| A node represents the state of a trajectory at a specific time. More... | |
| class | NodeCost |
| Assigns a cost to node values. More... | |
| class | NodesObserver |
| Base class to receive up-to-date values of the NodeVariables. More... | |
| class | NodeSpline |
| A spline built from node values and fixed polynomial durations. More... | |
| class | NodesVariables |
| Position and velocity of nodes used to generate a Hermite spline. More... | |
| class | NodesVariablesAll |
| Node variables used to construct the base motion spline. More... | |
| class | NodesVariablesEEForce |
| Variables fully defining the endeffector forces. More... | |
| class | NodesVariablesEEMotion |
| Variables fully defining the endeffector motion. More... | |
| class | NodesVariablesPhaseBased |
| Nodes that are associated to either swing or stance phases. More... | |
| class | Parameters |
| The parameters to tune the optimization problem. More... | |
| class | PhaseDurations |
| A variable set composed of the phase durations of an endeffector. More... | |
| class | PhaseDurationsObserver |
| Base class to receive up-to-date values of the ContactSchedule. More... | |
| class | PhaseSpline |
| A spline built from node values and polynomial durations. More... | |
| class | Polynomial |
| A polynomial of arbitrary order and dimension. More... | |
| class | QuadrupedGaitGenerator |
| Produces the contact sequence for a variety of four-legged gaits. More... | |
| class | RangeOfMotionConstraint |
| Constrains an endeffector to lie in a box around the nominal stance. More... | |
| struct | RobotModel |
| Base class for robot specific kinematics and dynamics. More... | |
| class | SingleRigidBodyDynamics |
| Dynamics model relating forces to base accelerations. More... | |
| class | Slope |
| Sample terrain with an increasing and then decreasing slope in x-direction. More... | |
| class | SoftConstraint |
| Converts a constraint to a cost by weighing the quadratic violations. More... | |
| class | Spline |
| A spline built from a sequence of cubic polynomials. More... | |
| class | SplineAccConstraint |
| Ensures continuous accelerations between polynomials. More... | |
| struct | SplineHolder |
| Builds splines from node values (pos/vel) and durations. More... | |
| class | Stairs |
| Sample terrain with a two-steps in height in x-direction. More... | |
| class | State |
| Stores at state comprised of values and higher-order derivatives. More... | |
| class | SwingConstraint |
| Constrains the foot position during the swing-phase. More... | |
| class | TerrainConstraint |
| Ensures the endeffectors always lays on or above terrain height. More... | |
| class | TimeDiscretizationConstraint |
| Constraints evaluated at discretized times along a trajectory. More... | |
| class | TotalDurationConstraint |
| Makes sure all the phase durations sum up to the total time. More... | |
Enumerations | |
| enum | BipedIDs { L, R } |
| enum | Dim2D { X_ = 0, Y_ } |
| enum | Dim3D { X = 0, Y, Z } |
| enum | Dim6D { AX = 0, AY, AZ, LX, LY, LZ } |
| enum | Dx { kPos = 0, kVel, kAcc, kJerk } |
| < the values or derivative. For motions e.g. position, velocity, ... More... | |
| enum | QuadrupedIDs { LF, RF, LH, RH } |
Functions | |
| static Eigen::Matrix3d | BuildInertiaTensor (double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz) |
| std::vector < NodesVariablesPhaseBased::PolyInfo > | BuildPolyInfos (int phase_count, bool first_phase_constant, int n_polys_in_changing_phase) |
| SingleRigidBodyDynamics::Jac | Cross (const Eigen::Vector3d &in) |
| TEST (DynamicModelTest, GetBaseAcceleration) | |
| TEST (DynamicConstraintTest, UpdateConstraintValues) | |
| TEST (DynamicModelTest, GetJacobianOfAccWrtBase) | |
| TEST (DynamicModelTest, TestRotations) | |
| static Dim2D | To2D (Dim3D dim) |
Variables | |
| static const Dim6D | AllDim6D [] = {AX, AY, AZ, LX, LY, LZ} |
| static constexpr int | k2D = 2 |
| static constexpr int | k3D = 3 |
| static constexpr int | k6D = 6 |
| static const std::map < RobotModel::Robot, std::string > | robot_names |
| static const std::map < HeightMap::TerrainID, std::string > | terrain_names |
| enum towr::BipedIDs |
Definition at line 43 of file endeffector_mappings.h.
| enum towr::Dim2D |
Definition at line 45 of file cartesian_dimensions.h.
| enum towr::Dim3D |
Definition at line 49 of file cartesian_dimensions.h.
| enum towr::Dim6D |
Definition at line 59 of file cartesian_dimensions.h.
| enum towr::Dx |
| enum towr::QuadrupedIDs |
Definition at line 44 of file endeffector_mappings.h.
| static Eigen::Matrix3d towr::BuildInertiaTensor | ( | double | Ixx, |
| double | Iyy, | ||
| double | Izz, | ||
| double | Ixy, | ||
| double | Ixz, | ||
| double | Iyz | ||
| ) | [static] |
Definition at line 36 of file single_rigid_body_dynamics.cc.
| std::vector<NodesVariablesPhaseBased::PolyInfo> towr::BuildPolyInfos | ( | int | phase_count, |
| bool | first_phase_constant, | ||
| int | n_polys_in_changing_phase | ||
| ) |
Definition at line 39 of file nodes_variables_phase_based.cc.
| SingleRigidBodyDynamics::Jac towr::Cross | ( | const Eigen::Vector3d & | in | ) |
Definition at line 48 of file single_rigid_body_dynamics.cc.
| towr::TEST | ( | DynamicModelTest | , |
| GetBaseAcceleration | |||
| ) |
Definition at line 36 of file dynamic_model_test.cc.
| towr::TEST | ( | DynamicConstraintTest | , |
| UpdateConstraintValues | |||
| ) |
Definition at line 40 of file dynamic_constraint_test.cc.
| towr::TEST | ( | DynamicModelTest | , |
| GetJacobianOfAccWrtBase | |||
| ) |
Definition at line 41 of file dynamic_model_test.cc.
| towr::TEST | ( | DynamicModelTest | , |
| TestRotations | |||
| ) |
Definition at line 46 of file dynamic_model_test.cc.
| static Dim2D towr::To2D | ( | Dim3D | dim | ) | [static] |
Definition at line 50 of file cartesian_dimensions.h.
Definition at line 60 of file cartesian_dimensions.h.
constexpr int towr::k2D = 2 [static] |
Definition at line 44 of file cartesian_dimensions.h.
constexpr int towr::k3D = 3 [static] |
Definition at line 48 of file cartesian_dimensions.h.
constexpr int towr::k6D = 6 [static] |
Definition at line 58 of file cartesian_dimensions.h.
const std::map<RobotModel::Robot, std::string> towr::robot_names [static] |
{
{RobotModel::Monoped, "Monoped"},
{RobotModel::Biped, "Biped"},
{RobotModel::Hyq, "Hyq"},
{RobotModel::Anymal, "Anymal"}
}
Definition at line 85 of file robot_model.h.
const std::map<HeightMap::TerrainID, std::string> towr::terrain_names [static] |
{
{HeightMap::FlatID, "Flat" },
{HeightMap::BlockID, "Block" },
{HeightMap::StairsID, "Stairs" },
{HeightMap::GapID, "Gap" },
{HeightMap::SlopeID, "Slope" },
{HeightMap::ChimneyID, "Chimney" },
{HeightMap::ChimneyLRID, "ChimenyLR" }
}
Definition at line 174 of file height_map.h.