Public Types | Public Member Functions | Private Attributes | List of all members
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:
Inheritance graph

Public Types

using EE = uint
- Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSetPtr
typedef Composite::Ptr VariablesPtr
- 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

Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const override
VecBound GetBounds () const override
VectorXd GetValues () const override
void InitVariableDependedQuantities (const VariablesPtr &x) override
 TotalDurationConstraint (double T_total, int ee)
 ~TotalDurationConstraint ()=default
- Public Member Functions inherited from ifopt::ConstraintSet
 ConstraintSet (int n_constraints, const std::string &name)
Jacobian GetJacobian () const final
void LinkWithVariables (const VariablesPtr &x)
virtual ~ConstraintSet ()=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

Private Attributes

EE ee_
PhaseDurations::Ptr phase_durations_
double T_total_

Additional Inherited Members

- Static Public Attributes inherited from ifopt::Component
static const int kSpecifyLater
- Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr GetVariables () const

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 52 of file total_duration_constraint.h.

Member Typedef Documentation

Definition at line 54 of file total_duration_constraint.h.

Constructor & Destructor Documentation

towr::TotalDurationConstraint::TotalDurationConstraint ( double  T_total,
int  ee 

Definition at line 36 of file

towr::TotalDurationConstraint::~TotalDurationConstraint ( )

Member Function Documentation

void towr::TotalDurationConstraint::FillJacobianBlock ( std::string  var_set,
Jacobian jac 
) const

Implements ifopt::ConstraintSet.

Definition at line 67 of file

TotalDurationConstraint::VecBound towr::TotalDurationConstraint::GetBounds ( ) const

Implements ifopt::Component.

Definition at line 58 of file

Eigen::VectorXd towr::TotalDurationConstraint::GetValues ( ) const

Implements ifopt::Component.

Definition at line 50 of file

void towr::TotalDurationConstraint::InitVariableDependedQuantities ( const VariablesPtr x)

Definition at line 44 of file

Member Data Documentation

EE towr::TotalDurationConstraint::ee_

Definition at line 68 of file total_duration_constraint.h.

PhaseDurations::Ptr towr::TotalDurationConstraint::phase_durations_

Definition at line 66 of file total_duration_constraint.h.

double towr::TotalDurationConstraint::T_total_

Definition at line 67 of file total_duration_constraint.h.

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