towr Namespace Reference

Namespaces
	id

Classes
class	BaseMotionConstraint
	Keeps the 6D base motion in a specified range. More...
class	BaseNodes
	Node variables used to construct the base motion spline. More...
struct	BaseState
	Can represent the 6Degree-of-Freedom floating base of a robot. More...
class	CentroidalModel
	Centroidal Dynamics model relating forces to base accelerations. 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	ForceConstraint
	Ensures foot force that is unilateral and inside friction cone. More...
class	HeightMap
	Holds the height and slope of the terrain. More...
class	KinematicModel
	Contains all the robot specific kinematic parameters. More...
class	LinearEqualityConstraint
	Calculates the constraint violations for linear constraints. More...
class	NlpFactory
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	Nodes
	Position and velocity of nodes used to generate a Hermite spline. 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...
struct	Parameters
	Holds 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	PhaseNodes
	Nodes that are associated to either swing or stance phases. More...
class	PhaseSpline
	A spline built from node values and polynomial durations. More...
class	Polynomial
	A polynomial of arbitrary order and dimension. More...
class	RangeOfMotionConstraint
	Constrains an endeffector to lie in a box around the nominal stance. More...
struct	RobotModel
	Holds pointers to the robot specific kinematics and dynamics. 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
	Holds pointers to fully constructed splines, that are linked to the optimization variables. 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...
class	TOWR
	TOWR - Trajectory Optimizer for Walking Robots. More...

Typedefs
using	VectorXd = Eigen::VectorXd

Enumerations
enum	ConstraintName {   Dynamic, EndeffectorRom, TotalTime, Terrain,   Force, Swing, BaseRom, BaseAcc }
enum	CostName { ForcesCostID }
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...

Functions
static Eigen::Matrix3d	BuildInertiaTensor (double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz)
std::vector< PhaseNodes::PolyInfo >	BuildPolyInfos (int phase_count, bool is_in_contact_at_start, int n_polys_in_changing_phase, PhaseNodes::Type type)
CentroidalModel::Jac	Cross (const Eigen::Vector3d &in)
	TEST (CentroidalDynamicsTest, GetBaseAcceleration)
	TEST (CentroidalDynamicsTest, GetJacobianOfAccWrtBase)
	TEST (DynamicConstraintTest, EigenScalar)
	TEST (CentroidalDynamicsTest, 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

Typedef Documentation

using towr::VectorXd = typedef Eigen::VectorXd

Definition at line 35 of file dynamic_constraint_test.cc.

Enumeration Type Documentation

enum towr::ConstraintName

Enumerator
Dynamic
EndeffectorRom
TotalTime
Terrain
Force
Swing
BaseRom
BaseAcc

Definition at line 38 of file parameters.h.

enum towr::CostName

Enumerator
ForcesCostID

Definition at line 40 of file parameters.h.

enum towr::Dim2D

Enumerator
X_
Y_

Definition at line 45 of file cartesian_dimensions.h.

enum towr::Dim3D

Enumerator
X
Y
Z

Definition at line 49 of file cartesian_dimensions.h.

enum towr::Dim6D

Enumerator
AX
AY
AZ
LX
LY
LZ

Definition at line 59 of file cartesian_dimensions.h.

enum towr::Dx

< the values or derivative. For motions e.g. position, velocity, ...

Enumerator
kPos
kVel
kAcc
kJerk

Definition at line 41 of file state.h.

Function Documentation

static Eigen::Matrix3d towr::BuildInertiaTensor ( double  Ixx, double  Iyy, double  Izz, double  Ixy, double  Ixz, double  Iyz  )

static

Definition at line 36 of file centroidal_model.cc.

std::vector<PhaseNodes::PolyInfo> towr::BuildPolyInfos	(	int	phase_count,
		bool	is_in_contact_at_start,
		int	n_polys_in_changing_phase,
		PhaseNodes::Type	type
	)

Definition at line 36 of file phase_nodes.cc.

CentroidalModel::Jac towr::Cross

(

const Eigen::Vector3d &

in

)

Definition at line 48 of file centroidal_model.cc.

towr::TEST	(	CentroidalDynamicsTest	,
		GetBaseAcceleration
	)

Definition at line 36 of file centroidal_dynamics_test.cc.

towr::TEST	(	CentroidalDynamicsTest	,
		GetJacobianOfAccWrtBase
	)

Definition at line 54 of file centroidal_dynamics_test.cc.

towr::TEST	(	DynamicConstraintTest	,
		EigenScalar
	)

Definition at line 69 of file dynamic_constraint_test.cc.

towr::TEST	(	CentroidalDynamicsTest	,
		TestRotations
	)

Definition at line 76 of file centroidal_dynamics_test.cc.

static Dim2D towr::To2D ( Dim3D  dim )

static

Definition at line 50 of file cartesian_dimensions.h.

Variable Documentation

const Dim6D towr::AllDim6D[] = {AX, AY, AZ, LX, LY, LZ}

static

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.