parameters.h
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29 
30 #ifndef TOWR_OPTIMIZATION_PARAMETERS_H_
31 #define TOWR_OPTIMIZATION_PARAMETERS_H_
32 
33 #include <vector>
34 
35 
36 namespace towr {
37 
41 
45 struct Parameters {
46 
47  using CostWeights = std::vector<std::pair<CostName, double>>;
48  using UsedConstraints = std::vector<ConstraintName>;
49  using VecTimes = std::vector<double>;
50  using EEID = unsigned int;
51 
55  Parameters();
56  virtual ~Parameters() = default;
57 
60 
63 
65  double t_total_;
66 
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75 
78 
80  std::vector<VecTimes> ee_phase_durations_;
81 
83  std::vector<bool> ee_in_contact_at_start_;
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87 
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101 
104 
106  int GetPhaseCount(EEID ee) const;
107 
109  bool OptimizeTimings() const;
110 
112  int GetEECount() const;
113 };
114 
115 } // namespace towr
116 
117 #endif /* TOWR_OPTIMIZATION_PARAMETERS_H_ */
int ee_polynomials_per_swing_phase_
Number of polynomials to parameterize foot movement during swing phases.
Definition: parameters.h:92
double dt_constraint_base_motion_
Interval at which the base motion constraint is enforced.
Definition: parameters.h:74
UsedConstraints constraints_
Which constraints should be used in the optimization problem.
Definition: parameters.h:59
double min_phase_duration_
When optimizing over phase duration, this is the minimum allowed.
Definition: parameters.h:86
std::vector< bool > ee_in_contact_at_start_
True if the foot is initially in contact with the terrain.
Definition: parameters.h:83
double max_phase_duration_
When optimizing over phase duration, this is is maximum allowed.
Definition: parameters.h:89
CostWeights costs_
Which costs should be used in the optimiation problem.
Definition: parameters.h:62
int GetPhaseCount(EEID ee) const
The number of phases allowed for endeffector ee.
Definition: parameters.cc:105
int GetEECount() const
The number of endeffectors.
Definition: parameters.cc:111
virtual ~Parameters()=default
int force_polynomials_per_stance_phase_
Number of polynomials to parameterize each contact force during stance phase.
Definition: parameters.h:95
Parameters()
Default parameters to use.
Definition: parameters.cc:36
std::vector< VecTimes > ee_phase_durations_
Number and initial duration of each foot&#39;s swing and stance phases.
Definition: parameters.h:80
VecTimes GetBasePolyDurations() const
The durations of each base polynomial in the spline (lin+ang).
Definition: parameters.cc:87
double dt_constraint_dynamic_
Interval at which the dynamic constraint is enforced.
Definition: parameters.h:68
ConstraintName
Definition: parameters.h:38
double force_limit_in_norm_
The maximum allowable force [N] in normal direction.
Definition: parameters.h:98
bool OptimizeTimings() const
True if the phase durations should be optimized over.
Definition: parameters.cc:79
double dt_constraint_range_of_motion_
Interval at which the range of motion constraint is enforced.
Definition: parameters.h:71
Holds the parameters to tune the optimization problem.
Definition: parameters.h:45
double t_total_
Total duration [s] of the walking motion.
Definition: parameters.h:65
std::vector< ConstraintName > UsedConstraints
Definition: parameters.h:48
unsigned int EEID
Definition: parameters.h:50
std::vector< std::pair< CostName, double >> CostWeights
Definition: parameters.h:47
CostName
Definition: parameters.h:40
double duration_base_polynomial_
Fixed duration of each cubic polynomial describing the base motion.
Definition: parameters.h:77
std::vector< double > VecTimes
Definition: parameters.h:49


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