dynamic_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_DYNAMIC_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_DYNAMIC_CONSTRAINT_H_
32 
33 #include <towr/variables/spline.h>
36 
38 
40 
41 namespace towr {
42 
64 public:
65  using Vector6d = Eigen::Matrix<double, 6, 1>;
66 
75  double T, double dt,
76  const SplineHolder& spline_holder);
77  virtual ~DynamicConstraint () = default;
78 
79 private:
82  std::vector<NodeSpline::Ptr> ee_forces_;
83  std::vector<NodeSpline::Ptr> ee_motion_;
84 
86 
93  int GetRow(int k, Dim6D dimension) const;
94 
99  void UpdateModel(double t) const;
100 
101  void UpdateConstraintAtInstance(double t, int k, VectorXd& g) const override;
102  void UpdateBoundsAtInstance(double t, int k, VecBound& bounds) const override;
103  void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
104 };
105 
106 } /* namespace towr */
107 
108 #endif /* TOWR_CONSTRAINTS_DYNAMIC_CONSTRAINT_H_ */
Ensure that the optimized motion complies with the system dynamics.
Eigen::Matrix< double, 6, 1 > Vector6d
Constraints evaluated at discretized times along a trajectory.
DynamicConstraint(const DynamicModel::Ptr &model, double T, double dt, const SplineHolder &spline_holder)
Construct a Dynamic constraint.
std::shared_ptr< NodeSpline > Ptr
Definition: node_spline.h:51
void UpdateModel(double t) const
Updates the model with the current state and forces.
void UpdateConstraintAtInstance(double t, int k, VectorXd &g) const override
Sets the constraint value a specific time t, corresponding to node k.
EulerConverter base_angular_
angular base state
NodeSpline::Ptr base_linear_
lin. base pos/vel/acc in world frame
void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian &) const override
Sets Jacobian rows at a specific time t, corresponding to node k.
Builds splines from node values (pos/vel) and durations.
Definition: spline_holder.h:47
Converts Euler angles and derivatives to angular quantities.
std::shared_ptr< DynamicModel > Ptr
Definition: dynamic_model.h:68
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
std::vector< NodeSpline::Ptr > ee_forces_
endeffector forces in world frame.
void UpdateBoundsAtInstance(double t, int k, VecBound &bounds) const override
Sets upper/lower bound a specific time t, corresponding to node k.
std::vector< NodeSpline::Ptr > ee_motion_
endeffector position in world frame.
DynamicModel::Ptr model_
the dynamic model (e.g. Centroidal)
virtual ~DynamicConstraint()=default
std::vector< Bounds > VecBound
Eigen::VectorXd VectorXd
int GetRow(int k, Dim6D dimension) const
The row in the overall constraint for this evaluation time.


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