Public Member Functions | Private Attributes | List of all members
towr::SplineAccConstraint Class Reference

Ensures continuous accelerations between polynomials. More...

#include <spline_acc_constraint.h>

Inheritance diagram for towr::SplineAccConstraint:
Inheritance graph
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Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const override
 
VecBound GetBounds () const override
 
VectorXd GetValues () const override
 
 SplineAccConstraint (const NodeSpline::Ptr &spline, std::string name)
 
virtual ~SplineAccConstraint ()=default
 

Private Attributes

int n_dim_
 dimensions that this polynomial represents (e.g. x,y). More...
 
int n_junctions_
 polynomial parameterized node values More...
 
std::string node_variables_id_
 
NodeSpline::Ptr spline_
 a spline comprised of polynomials More...
 
std::vector< double > T_
 Duration of each polynomial in spline. More...
 

Detailed Description

Ensures continuous accelerations between polynomials.

This is used to restrict jumps in linear and angular base accelerations, since this would require jumps in foot positions or endeffector forces, which aren't allowed in our formulation.

Definition at line 46 of file spline_acc_constraint.h.

Constructor & Destructor Documentation

towr::SplineAccConstraint::SplineAccConstraint ( const NodeSpline::Ptr spline,
std::string  name 
)

Definition at line 34 of file spline_acc_constraint.cc.

virtual towr::SplineAccConstraint::~SplineAccConstraint ( )
virtualdefault

Member Function Documentation

void towr::SplineAccConstraint::FillJacobianBlock ( std::string  var_set,
Jacobian &  jac 
) const
override

Definition at line 67 of file spline_acc_constraint.cc.

SplineAccConstraint::VecBound towr::SplineAccConstraint::GetBounds ( ) const
override

Definition at line 83 of file spline_acc_constraint.cc.

Eigen::VectorXd towr::SplineAccConstraint::GetValues ( ) const
override

Definition at line 49 of file spline_acc_constraint.cc.

Member Data Documentation

int towr::SplineAccConstraint::n_dim_
private

dimensions that this polynomial represents (e.g. x,y).

Definition at line 61 of file spline_acc_constraint.h.

int towr::SplineAccConstraint::n_junctions_
private

polynomial parameterized node values

number of junctions between polynomials in spline.

Definition at line 60 of file spline_acc_constraint.h.

std::string towr::SplineAccConstraint::node_variables_id_
private

Definition at line 58 of file spline_acc_constraint.h.

NodeSpline::Ptr towr::SplineAccConstraint::spline_
private

a spline comprised of polynomials

Definition at line 57 of file spline_acc_constraint.h.

std::vector<double> towr::SplineAccConstraint::T_
private

Duration of each polynomial in spline.

Definition at line 62 of file spline_acc_constraint.h.


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


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 8 2018 02:18:53