Public Member Functions | List of all members
towr::NodesVariablesEEForce Class Reference

Variables fully defining the endeffector forces. More...

#include <nodes_variables_phase_based.h>

Inheritance diagram for towr::NodesVariablesEEForce:
Inheritance graph

Public Member Functions

OptIndexMap GetPhaseBasedEEParameterization ()
 NodesVariablesEEForce (int phase_count, bool is_in_contact_at_start, const std::string &name, int n_polys_in_changing_phase)
virtual ~NodesVariablesEEForce ()=default
- Public Member Functions inherited from towr::NodesVariablesPhaseBased
virtual VecDurations ConvertPhaseToPolyDurations (const VecDurations &phase_durations) const
 Converts durations of swing and stance phases to polynomial durations. More...
virtual double GetDerivativeOfPolyDurationWrtPhaseDuration (int polynomial_id) const
 How a change in the phase duration affects the polynomial duration. More...
NodeIds GetIndicesOfNonConstantNodes () const
 The indices of those nodes that don't belong to a constant phase. More...
int GetNodeIDAtStartOfPhase (int phase) const
virtual int GetNumberOfPrevPolynomialsInPhase (int polynomial_id) const
 How many polynomials in the current phase come before. More...
int GetPhase (int node_id) const
Eigen::Vector3d GetValueAtStartOfPhase (int phase) const
virtual bool IsConstantNode (int node_id) const
 node is constant if either left or right polynomial belongs to a constant phase. More...
virtual bool IsInConstantPhase (int polynomial_id) const
 Is the polynomial constant, so not changing the value. More...
 NodesVariablesPhaseBased (int phase_count, bool first_phase_constant, const std::string &var_name, int n_polys_in_changing_phase)
 Constructs a variable set of node variables. More...
virtual ~NodesVariablesPhaseBased ()=default
- Public Member Functions inherited from towr::NodesVariables
void AddFinalBound (Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
 Restricts the last node in the spline. More...
void AddObserver (ObserverPtr const spline)
 Adds a dependent observer that gets notified when the nodes change. More...
void AddStartBound (Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
 Restricts the first node in the spline. More...
const std::vector< NodeGetBoundaryNodes (int poly_id) const
VecBound GetBounds () const override
int GetDim () const
const std::vector< NodeGetNodes () const
int GetOptIndex (const NodeValueInfo &nvi) const
 Index in the optimization vector for a specific nodes' pos/vel. More...
int GetPolynomialCount () const
VectorXd GetValues () const override
 Pure optimization variables that define the nodes. More...
void SetByLinearInterpolation (const VectorXd &initial_val, const VectorXd &final_val, double t_total)
 Sets nodes pos/vel equally spaced from initial to final position. More...
void SetVariables (const VectorXd &x) override
 Sets some node positions and velocity from the optimization variables. More...
- Public Member Functions inherited from ifopt::VariableSet
Jacobian GetJacobian () const final
 VariableSet (int n_var, const std::string &name)
virtual ~VariableSet ()=default
- Public Member Functions inherited from ifopt::Component
 Component (int num_rows, const std::string &name)
std::string GetName () const
int GetRows () const
virtual void Print (double tolerance, int &index_start) const
void SetRows (int num_rows)
virtual ~Component ()=default

Additional Inherited Members

- Public Types inherited from towr::NodesVariablesPhaseBased
using NodeIds = std::vector< int >
using OptIndexMap = std::map< int, std::vector< NodeValueInfo > >
using Ptr = std::shared_ptr< NodesVariablesPhaseBased >
- Public Types inherited from towr::NodesVariables
using ObserverPtr = NodesObserver *
using Ptr = std::shared_ptr< NodesVariables >
enum  Side { Start =0, End }
using VecDurations = std::vector< double >
- Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
typedef std::shared_ptr< ComponentPtr
typedef std::vector< BoundsVecBound
typedef Eigen::VectorXd VectorXd
- Static Public Member Functions inherited from towr::NodesVariables
static int GetNodeId (int poly_id, Side side)
 The node ID that belongs to a specific side of a specific polynomial. More...
- Static Public Attributes inherited from towr::NodesVariables
static const int NodeValueNotOptimized = -1
- Static Public Attributes inherited from ifopt::Component
static const int kSpecifyLater
- Protected Member Functions inherited from towr::NodesVariablesPhaseBased
std::vector< NodeValueInfoGetNodeValuesInfo (int idx) const override
 Node values affected by one specific optimization variable. More...
void SetNumberOfVariables (int n_variables)
- Protected Member Functions inherited from towr::NodesVariables
 NodesVariables (const std::string &variable_name)
virtual ~NodesVariables ()=default
- Protected Attributes inherited from towr::NodesVariablesPhaseBased
OptIndexMap index_to_node_value_info_
 Assign optimization variables to the correct node values. More...
- Protected Attributes inherited from towr::NodesVariables
VecBound bounds_
 the bounds on the node values. More...
int n_dim_
std::vector< Nodenodes_

Detailed Description

Variables fully defining the endeffector forces.

Definition at line 207 of file nodes_variables_phase_based.h.

Constructor & Destructor Documentation

towr::NodesVariablesEEForce::NodesVariablesEEForce ( int  phase_count,
bool  is_in_contact_at_start,
const std::string &  name,
int  n_polys_in_changing_phase 

Definition at line 255 of file

virtual towr::NodesVariablesEEForce::~NodesVariablesEEForce ( )

Member Function Documentation

NodesVariablesEEForce::OptIndexMap towr::NodesVariablesEEForce::GetPhaseBasedEEParameterization ( )

Definition at line 269 of file

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

Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16