nlp_formulation.h
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29 
30 #ifndef TOWR_NLP_FACTORY_H_
31 #define TOWR_NLP_FACTORY_H_
32 
33 #include <ifopt/variable_set.h>
34 #include <ifopt/constraint_set.h>
35 #include <ifopt/cost_term.h>
36 
40 #include <towr/parameters.h>
41 
42 namespace towr {
43 
74 public:
75  using VariablePtrVec = std::vector<ifopt::VariableSet::Ptr>;
76  using ContraintPtrVec = std::vector<ifopt::ConstraintSet::Ptr>;
77  using CostPtrVec = std::vector<ifopt::CostTerm::Ptr>;
78  using EEPos = std::vector<Eigen::Vector3d>;
79  using Vector3d = Eigen::Vector3d;
80 
81  NlpFormulation ();
82  virtual ~NlpFormulation () = default;
83 
89 
94  ContraintPtrVec GetConstraints(const SplineHolder& spline_holder) const;
95 
97  ContraintPtrVec GetCosts() const;
98 
99 
106 
107 private:
108  // variables
109  std::vector<NodesVariables::Ptr> MakeBaseVariables() const;
110  std::vector<NodesVariablesPhaseBased::Ptr> MakeEndeffectorVariables() const;
111  std::vector<NodesVariablesPhaseBased::Ptr> MakeForceVariables() const;
112  std::vector<PhaseDurations::Ptr> MakeContactScheduleVariables() const;
113 
114  // constraints
116  const SplineHolder& splines) const;
125 
126  // costs
127  CostPtrVec GetCost(const Parameters::CostName& id, double weight) const;
128  CostPtrVec MakeForcesCost(double weight) const;
129  CostPtrVec MakeEEMotionCost(double weight) const;
130 };
131 
132 } /* namespace towr */
133 
134 #endif /* TOWR_NLP_FACTORY_H_ */
The parameters to tune the optimization problem.
Definition: parameters.h:133
ContraintPtrVec MakeTerrainConstraint() const
std::vector< NodesVariablesPhaseBased::Ptr > MakeEndeffectorVariables() const
std::vector< ifopt::ConstraintSet::Ptr > ContraintPtrVec
ConstraintName
Identifiers to be used to add certain constraints to the optimization problem.
Definition: parameters.h:139
ContraintPtrVec GetConstraint(Parameters::ConstraintName name, const SplineHolder &splines) const
Base class for robot specific kinematics and dynamics.
Definition: robot_model.h:63
CostPtrVec GetCost(const Parameters::CostName &id, double weight) const
ContraintPtrVec GetConstraints(const SplineHolder &spline_holder) const
The ifopt constraints that enforce feasible motions.
ContraintPtrVec MakeBaseRangeOfMotionConstraint(const SplineHolder &s) const
CostName
Indentifiers to be used to add certain costs to the optimization problem.
Definition: parameters.h:152
std::vector< ifopt::VariableSet::Ptr > VariablePtrVec
std::vector< PhaseDurations::Ptr > MakeContactScheduleVariables() const
ContraintPtrVec MakeForceConstraint() const
ContraintPtrVec GetCosts() const
The ifopt costs to tune the motion.
Builds splines from node values (pos/vel) and durations.
Definition: spline_holder.h:47
std::vector< NodesVariablesPhaseBased::Ptr > MakeForceVariables() const
ContraintPtrVec MakeDynamicConstraint(const SplineHolder &s) const
CostPtrVec MakeForcesCost(double weight) const
Can represent the 6Degree-of-Freedom floating base of a robot.
Definition: state.h:122
std::vector< Eigen::Vector3d > EEPos
A sample combination of variables, cost and constraints.
ContraintPtrVec MakeTotalTimeConstraint() const
HeightMap::Ptr terrain_
std::vector< NodesVariables::Ptr > MakeBaseVariables() const
ContraintPtrVec MakeBaseAccConstraint(const SplineHolder &s) const
VariablePtrVec GetVariableSets(SplineHolder &spline_holder)
The ifopt variable sets that will be optimized over.
Eigen::Vector3d Vector3d
std::vector< ifopt::CostTerm::Ptr > CostPtrVec
ContraintPtrVec MakeSwingConstraint() const
ContraintPtrVec MakeRangeOfMotionBoxConstraint(const SplineHolder &s) const
std::shared_ptr< HeightMap > Ptr
Definition: height_map.h:73
CostPtrVec MakeEEMotionCost(double weight) const
virtual ~NlpFormulation()=default


towr
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:00