base_motion_constraint.cc
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29 
34 
35 namespace towr {
36 
37 
39  const SplineHolder& spline_holder)
40  :TimeDiscretizationConstraint(params.t_total_,
41  params.dt_constraint_base_motion_,
42  "BaseMotionConstraint")
43 {
44  base_linear_ = spline_holder.base_linear_;
45  base_angular_ = spline_holder.base_angular_;
46 
47  double dev_rad = 0.1;
48  node_bounds_.resize(k6D);
49  node_bounds_.at(AX) = ifopt::NoBound;//Bounds(-dev_rad, dev_rad); euler angles bounds!
50  node_bounds_.at(AY) = ifopt::NoBound;//Bounds(-dev_rad, dev_rad);
51  node_bounds_.at(AZ) = ifopt::NoBound;//Bounds(-dev_rad, dev_rad); // NoBound
52  node_bounds_.at(LX) = ifopt::NoBound;
53  node_bounds_.at(LY) = ifopt::NoBound;//Bounds(-0.05, 0.05);
54 
55  double z_init = 0.46;//base_linear_.GetPoint(0.0).p().z();
56  node_bounds_.at(LZ) = Bounds(0.46, 0.55); // allow to move dev_z cm up and down
57 
58  int n_constraints_per_node = node_bounds_.size();
59  SetRows(GetNumberOfNodes()*n_constraints_per_node);
60 }
61 
62 void
64  VectorXd& g) const
65 {
66  g.middleRows(GetRow(k, LX), k3D) = base_linear_->GetPoint(t).p();
67  g.middleRows(GetRow(k, AX), k3D) = base_angular_->GetPoint(t).p();
68 }
69 
70 void
71 BaseMotionConstraint::UpdateBoundsAtInstance (double t, int k, VecBound& bounds) const
72 {
73  for (int dim=0; dim<node_bounds_.size(); ++dim)
74  bounds.at(GetRow(k,dim)) = node_bounds_.at(dim);
75 }
76 
77 void
79  std::string var_set,
80  Jacobian& jac) const
81 {
82  if (var_set == id::base_ang_nodes)
83  jac.middleRows(GetRow(k,AX), k3D) = base_angular_->GetJacobianWrtNodes(t, kPos);
84 
85  if (var_set == id::base_lin_nodes)
86  jac.middleRows(GetRow(k,LX), k3D) = base_linear_->GetJacobianWrtNodes(t, kPos);
87 }
88 
89 int
90 BaseMotionConstraint::GetRow (int node, int dim) const
91 {
92  return node*node_bounds_.size() + dim;
93 }
94 
95 } /* namespace towr */
VecBound node_bounds_
same bounds for each discretized node
Constraints evaluated at discretized times along a trajectory.
static constexpr int k6D
virtual void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian &) const override
Sets Jacobian rows at a specific time t, corresponding to node k.
Eigen::VectorXd VectorXd
Holds pointers to fully constructed splines, that are linked to the optimization variables.
Definition: spline_holder.h:46
NodeSpline::Ptr base_linear_
Definition: spline_holder.h:68
NodeSpline::Ptr base_angular_
Definition: spline_holder.h:69
BaseMotionConstraint(const Parameters &params, const SplineHolder &spline_holder)
Links the base variables and sets hardcoded bounds on the state.
void UpdateConstraintAtInstance(double t, int k, VectorXd &g) const override
Sets the constraint value a specific time t, corresponding to node k.
static constexpr int k3D
Holds the parameters to tune the optimization problem.
Definition: parameters.h:45
static const std::string base_ang_nodes
void UpdateBoundsAtInstance(double t, int k, VecBound &) const override
Sets upper/lower bound a specific time t, corresponding to node k.
int GetRow(int node, int dim) const
static const std::string base_lin_nodes


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:57