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

Makes sure all the phase durations sum up to the total time. More...

#include <total_duration_constraint.h>

Inheritance diagram for towr::TotalDurationConstraint:
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Public Types

using EE = uint
 

Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const override
 
VecBound GetBounds () const override
 
VectorXd GetValues () const override
 
virtual void InitVariableDependedQuantities (const VariablesPtr &x) override
 
 TotalDurationConstraint (double T_total, int ee)
 
 ~TotalDurationConstraint ()=default
 

Private Attributes

EE ee_
 
PhaseDurations::Ptr phase_durations_
 
double T_total_
 

Detailed Description

Makes sure all the phase durations sum up to the total time.

When optimizing over the phase durations of each foot, this constraint makes sure that: t_phase_1 + ... + t_phase_(n-1) = T_total.

Attention: At this point last phase duration is not an optimization variable and a way should be found to optimize over all phases while setting the total duration by constraint and not through hard parameterization.

Definition at line 50 of file total_duration_constraint.h.

Member Typedef Documentation

Definition at line 52 of file total_duration_constraint.h.

Constructor & Destructor Documentation

towr::TotalDurationConstraint::TotalDurationConstraint ( double  T_total,
int  ee 
)

Definition at line 36 of file total_duration_constraint.cc.

towr::TotalDurationConstraint::~TotalDurationConstraint ( )
default

Member Function Documentation

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

Definition at line 67 of file total_duration_constraint.cc.

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

Definition at line 58 of file total_duration_constraint.cc.

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

Definition at line 50 of file total_duration_constraint.cc.

void towr::TotalDurationConstraint::InitVariableDependedQuantities ( const VariablesPtr &  x)
overridevirtual

Definition at line 44 of file total_duration_constraint.cc.

Member Data Documentation

EE towr::TotalDurationConstraint::ee_
private

Definition at line 66 of file total_duration_constraint.h.

PhaseDurations::Ptr towr::TotalDurationConstraint::phase_durations_
private

Definition at line 64 of file total_duration_constraint.h.

double towr::TotalDurationConstraint::T_total_
private

Definition at line 65 of file total_duration_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