towr Namespace Reference

Namespaces
	id

Classes
class	AnymalDynamicModel
class	AnymalKinematicModel
class	BaseMotionConstraint
struct	BaseState
class	BipedDynamicModel
class	BipedGaitGenerator
class	BipedKinematicModel
class	Block
class	Chimney
class	ChimneyLR
class	CubicHermitePolynomial
class	DynamicConstraint
class	DynamicModel
class	EulerConverter
class	FlatGround
class	ForceConstraint
class	GaitGenerator
class	Gap
class	HeightMap
class	HyqDynamicModel
class	HyqKinematicModel
class	KinematicModel
class	LinearEqualityConstraint
class	MonopedDynamicModel
class	MonopedGaitGenerator
class	MonopedKinematicModel
class	NlpFormulation
class	Node
class	NodeCost
class	NodesObserver
class	NodeSpline
class	NodesVariables
class	NodesVariablesAll
class	NodesVariablesEEForce
class	NodesVariablesEEMotion
class	NodesVariablesPhaseBased
class	Parameters
class	PhaseDurations
class	PhaseDurationsObserver
class	PhaseSpline
class	Polynomial
class	QuadrupedGaitGenerator
class	RangeOfMotionConstraint
struct	RobotModel
class	SingleRigidBodyDynamics
class	Slope
class	SoftConstraint
class	Spline
class	SplineAccConstraint
struct	SplineHolder
class	Stairs
class	State
class	SwingConstraint
class	TerrainConstraint
class	TimeDiscretizationConstraint
class	TotalDurationConstraint
class	TowrRosApp
	An example application of using TOWR together with ROS. More...
class	TowrRosInterface
	Base class to interface TOWR with a ROS GUI and RVIZ. More...
class	TowrUserInterface
	Translates user input into the ROS message TowrCommand.msg. More...

Typedefs
typedef Eigen::VectorXd	VectorXd

Enumerations
enum	BipedIDs
enum	Dim2D
enum	Dim3D
enum	Dim6D
enum	Dx
enum	QuadrupedIDs
enum	YCursorRows {   HEADING =6, OPTIMIZE =8, VISUALIZE, INITIALIZATION,   PLOT, REPLAY_SPEED, GOAL_POS, GOAL_ORI,   ROBOT, GAIT, OPTIMIZE_GAIT, TERRAIN,   DURATION, CLOSE, END }

Functions
static Eigen::Matrix3d	BuildInertiaTensor (double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz)
std::vector< NodesVariablesPhaseBased::PolyInfo >	BuildPolyInfos (int phase_count, bool first_phase_constant, int n_polys_in_changing_phase)
SingleRigidBodyDynamics::Jac	Cross (const Eigen::Vector3d &in)
	TEST (DynamicModelTest, GetBaseAcceleration)
	TEST (DynamicConstraintTest, UpdateConstraintValues)
	TEST (DynamicModelTest, TestRotations)
	TEST (DynamicModelTest, GetJacobianOfAccWrtBase)
static Dim2D	To2D (Dim3D dim)
static xpp::StateLinXd	ToXpp (const towr::State &towr)
static std::pair< xpp::EndeffectorID, std::string >	ToXppEndeffector (int number_of_ee, int towr_ee_id)
void	UserCommandCallback (const towr_ros::TowrCommand &msg_in)

Variables
static const Dim6D	AllDim6D []
	AX
	AY
	AZ
static std::map< towr::BipedIDs, std::string >	biped_to_name
static std::map< towr::BipedIDs, xpp::biped::FootIDs >	biped_to_xpp_id
static constexpr int	k2D
static constexpr int	k3D
static constexpr int	k6D
	kAcc
	kJerk
	kPos
	kVel
	L
	LF
	LH
	LX
	LY
	LZ
static std::map< towr::QuadrupedIDs, std::string >	quad_to_name
static std::map< towr::QuadrupedIDs, xpp::quad::FootIDs >	quad_to_xpp_id
	R
	RF
	RH
static const std::map< RobotModel::Robot, std::string >	robot_names
static ros::Publisher	rviz_pub
static ros::Publisher	rviz_pub
static const std::map< HeightMap::TerrainID, std::string >	terrain_names
	X
	X_
static constexpr int	X_DESCRIPTION = 10
static constexpr int	X_KEY = 1
static constexpr int	X_VALUE = 35
	Y
	Y_
static constexpr int	Y_STATUS = END+1
	Z

Enumeration Type Documentation

enum towr::YCursorRows

Enumerator
HEADING
OPTIMIZE
VISUALIZE
INITIALIZATION
PLOT
REPLAY_SPEED
GOAL_POS
GOAL_ORI
ROBOT
GAIT
OPTIMIZE_GAIT
TERRAIN
DURATION
CLOSE
END

Definition at line 46 of file towr_user_interface.cc.

Function Documentation

static xpp::StateLinXd towr::ToXpp ( const towr::State &  towr )

static

Converts class "State" between two domains (have same internal representation).

Definition at line 118 of file towr_xpp_ee_map.h.

static std::pair<xpp::EndeffectorID, std::string> towr::ToXppEndeffector ( int  number_of_ee, int  towr_ee_id  )

static

Converts endeffector IDs of towr into the corresponding number used in xpp.

Parameters

number_of_ee	Number of endeffectors of current robot model.
towr_ee_id	Integer used to represent the endeffector inside towr.

Returns

corresponding endeffector and string name in the xpp domain.

Definition at line 86 of file towr_xpp_ee_map.h.

void towr::UserCommandCallback

(

const towr_ros::TowrCommand &

msg_in

)

Definition at line 44 of file goal_pose_publisher.cc.

Variable Documentation

std::map<towr::BipedIDs, std::string> towr::biped_to_name

static

Initial value:

=
{
  {L, "Left" },
  {R, "Right"}
}

Mapping endeffector names

Definition at line 62 of file towr_xpp_ee_map.h.

std::map<towr::BipedIDs, xpp::biped::FootIDs> towr::biped_to_xpp_id

static

Initial value:

=
{
    {L, xpp::biped::L},
    {R, xpp::biped::R},
}

Mapping endeffector IDs

Definition at line 46 of file towr_xpp_ee_map.h.

std::map<towr::QuadrupedIDs, std::string> towr::quad_to_name

static

Initial value:

=
{
  {LF, "Left-Front" },
  {RF, "Right-Front"},
  {LH, "Left-Hind"  },
  {RH, "Right-Hind" }
}

Definition at line 68 of file towr_xpp_ee_map.h.

std::map<towr::QuadrupedIDs, xpp::quad::FootIDs> towr::quad_to_xpp_id

static

Initial value:

=
{
    {LF, xpp::quad::LF},
    {RF, xpp::quad::RF},
    {LH, xpp::quad::LH},
    {RH, xpp::quad::RH}
}

Definition at line 52 of file towr_xpp_ee_map.h.

ros::Publisher towr::rviz_pub

static

Definition at line 42 of file rviz_terrain_publisher.cc.

ros::Publisher towr::rviz_pub

static

Definition at line 42 of file goal_pose_publisher.cc.

constexpr int towr::X_DESCRIPTION = 10

static

Definition at line 51 of file towr_user_interface.cc.

constexpr int towr::X_KEY = 1

static

Definition at line 50 of file towr_user_interface.cc.

constexpr int towr::X_VALUE = 35

static

Definition at line 52 of file towr_user_interface.cc.

constexpr int towr::Y_STATUS = END+1

static

Definition at line 49 of file towr_user_interface.cc.