towr::SplineAccConstraint Class Reference

Ensures continuous accelerations between polynomials. More...

#include <spline_acc_constraint.h>

Inheritance diagram for towr::SplineAccConstraint:

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.

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

• spline_acc_constraint.h
• spline_acc_constraint.cc