An example application of using TOWR together with ROS. More...
Inheritance diagram for towr::TowrRosApp:
Public Member Functions | |
| Parameters | GetTowrParameters (int n_ee, const TowrCommandMsg &msg) const override |
| Sets the parameters required to formulate the TOWR problem. More... | |
| void | SetIpoptParameters (const TowrCommandMsg &msg) override |
| Sets the paramters for IPOPT. More... | |
| void | SetTowrInitialState () override |
| Sets the feet to nominal position on flat ground and base above. More... | |
Additional Inherited Members | |
 Public Types inherited from towr::TowrRosInterface | |
| using | TowrCommandMsg = towr_ros::TowrCommand |
| using | Vector3d = Eigen::Vector3d |
| using | XppVec = std::vector< xpp::RobotStateCartesian > |
| Protected Member Functions inherited from towr::TowrRosInterface | |
| TowrRosInterface () | |
| virtual | ~TowrRosInterface ()=default |
| Protected Attributes inherited from towr::TowrRosInterface | |
| NlpFormulation | formulation_ |
| the default formulation, can be adapted More... | |
| ifopt::IpoptSolver::Ptr | solver_ |
| NLP solver, could also use SNOPT. More... | |
Detailed Description
An example application of using TOWR together with ROS.
Build your own application with your own formulation using the building blocks provided in TOWR and following the example below.
Definition at line 42 of file towr_ros_app.cc.
Member Function Documentation
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inlineoverridevirtual |
Sets the parameters required to formulate the TOWR problem.
Implements towr::TowrRosInterface.
Definition at line 63 of file towr_ros_app.cc.
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inlineoverridevirtual |
Sets the paramters for IPOPT.
Implements towr::TowrRosInterface.
Definition at line 92 of file towr_ros_app.cc.
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inlineoverridevirtual |
Sets the feet to nominal position on flat ground and base above.
Implements towr::TowrRosInterface.
Definition at line 47 of file towr_ros_app.cc.
The documentation for this class was generated from the following file: