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:

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

using towr::TotalDurationConstraint::EE = uint

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.

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The documentation for this class was generated from the following files:

• total_duration_constraint.h
• total_duration_constraint.cc