base_motion_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
base__motion__constraint_8cc
towr/constraints/base_motion_constraint.h
towr/variables/variable_names.h
towr/variables/cartesian_dimensions.h
towr/variables/spline_holder.h
towr
base_motion_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
base__motion__constraint_8h
towr/variables/spline_holder.h
towr/variables/spline.h
towr/parameters.h
time_discretization_constraint.h
towr::BaseMotionConstraint
towr
base_nodes.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
base__nodes_8cc
towr/variables/base_nodes.h
towr/variables/cartesian_dimensions.h
towr
base_nodes.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
base__nodes_8h
nodes.h
towr::BaseNodes
towr
cartesian_dimensions.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
cartesian__dimensions_8h
towr
Dim2D
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22
X_
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22aa48e85b666356ba14014d3536d7d3c76
Y_
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22ae61c89de600253b7fc91477fe59a8036
Dim3D
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1ab
X
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba7296aa172d6a26b5e3e902b6eea2cd71
Y
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba3c49225a1786df3372154971a2b84531
Z
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba0dbc36c12672f2b47a0a7e1437c42c96
Dim6D
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1
AX
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a355f87b306764c9c6be5dbbbb2493e1c
AY
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a6412b99c699425165783fbda7fc99f16
AZ
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1aec9ae16c09af83e36aeca46204975b08
LX
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1adecb79d0fec84980cd473a0fa84268ac
LY
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a28b5595514ff769c3fd7ea610c3eb821
LZ
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1add512fe7eb81591d3f5b55abea4ae67c
static Dim2D
To2D
namespacetowr.html
ae6322a84caddb2b6cdcd87a64f75bb26
(Dim3D dim)
static const Dim6D
AllDim6D
namespacetowr.html
a60191bac09e48281aa7dd724f8d68fa5
[]
static constexpr int
k2D
namespacetowr.html
a3e763b542b4de7f794902ab46d6dfe69
static constexpr int
k3D
namespacetowr.html
a3525aa8198bc9d9b12f3a7461874597e
static constexpr int
k6D
namespacetowr.html
abd44e13e224990ecfbb0ea1e3604cfe5
centroidal_dynamics_test.cc
/tmp/catkin_workspace/src/towr/towr_core/test/
centroidal__dynamics__test_8cc
towr/variables/euler_converter.h
towr
TEST
namespacetowr.html
a2fc83b8de8ba55b27008c0cc7f4ed936
(CentroidalDynamicsTest, GetBaseAcceleration)
TEST
namespacetowr.html
a0538d9895a998159be0d520a3b1373ae
(CentroidalDynamicsTest, GetJacobianOfAccWrtBase)
TEST
namespacetowr.html
a05c7d331c5389a95173718d7eb4d76b5
(CentroidalDynamicsTest, TestRotations)
centroidal_model.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
centroidal__model_8cc
towr/models/centroidal_model.h
towr/variables/cartesian_dimensions.h
towr
static Eigen::Matrix3d
BuildInertiaTensor
namespacetowr.html
af172c1b6ab15396f6470aea1be58ab23
(double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz)
CentroidalModel::Jac
Cross
namespacetowr.html
af0c8aef9deec0b015af06d5b54de7990
(const Eigen::Vector3d &in)
centroidal_model.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/models/
centroidal__model_8h
dynamic_model.h
towr::CentroidalModel
towr
dynamic_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
dynamic__constraint_8cc
towr/constraints/dynamic_constraint.h
towr/variables/variable_names.h
towr/variables/cartesian_dimensions.h
towr
dynamic_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
dynamic__constraint_8h
towr/variables/spline.h
towr/variables/spline_holder.h
towr/variables/euler_converter.h
towr/models/dynamic_model.h
towr/parameters.h
time_discretization_constraint.h
towr::DynamicConstraint
towr
dynamic_constraint_test.cc
/tmp/catkin_workspace/src/towr/towr_core/test/
dynamic__constraint__test_8cc
towr
Eigen::VectorXd
VectorXd
namespacetowr.html
a0edeb5b8cd551b3f0d34caa31610bf80
TEST
namespacetowr.html
a14c7e386f7ddbc5b46aa2328e76f041b
(DynamicConstraintTest, EigenScalar)
dynamic_model.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
dynamic__model_8cc
towr/models/dynamic_model.h
towr
dynamic_model.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/models/
dynamic__model_8h
towr/variables/euler_converter.h
towr::DynamicModel
towr
euler_converter.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
euler__converter_8cc
towr/variables/euler_converter.h
towr
euler_converter.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
euler__converter_8h
cartesian_dimensions.h
node_spline.h
towr::EulerConverter
towr
force_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
force__constraint_8cc
towr/constraints/force_constraint.h
towr/variables/variable_names.h
towr
force_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
force__constraint_8h
towr/variables/phase_nodes.h
towr/height_map.h
towr::ForceConstraint
towr
gtest_main.cc
/tmp/catkin_workspace/src/towr/towr_core/test/
gtest__main_8cc
GTEST_API_ int
main
gtest__main_8cc.html
a7f83bdc516d2cb86e20235d94ddf055a
(int argc, char **argv)
height_map.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
height__map_8cc
towr/height_map.h
towr
height_map.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/
height__map_8h
variables/cartesian_dimensions.h
towr::HeightMap
towr
kinematic_model.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/models/
kinematic__model_8h
towr::KinematicModel
towr
linear_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
linear__constraint_8cc
towr/constraints/linear_constraint.h
towr
linear_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
linear__constraint_8h
towr::LinearEqualityConstraint
towr
nlp_factory.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
nlp__factory_8cc
towr/nlp_factory.h
towr/variables/variable_names.h
towr/variables/base_nodes.h
towr/variables/phase_durations.h
towr/constraints/base_motion_constraint.h
towr/constraints/dynamic_constraint.h
towr/constraints/force_constraint.h
towr/constraints/range_of_motion_constraint.h
towr/constraints/swing_constraint.h
towr/constraints/terrain_constraint.h
towr/constraints/total_duration_constraint.h
towr/constraints/spline_acc_constraint.h
towr/costs/node_cost.h
towr
nlp_factory.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/
nlp__factory_8h
towr/variables/spline_holder.h
robot_model.h
height_map.h
parameters.h
towr::NlpFactory
towr
node_cost.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
node__cost_8cc
towr/costs/node_cost.h
towr
node_cost.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/costs/
node__cost_8h
towr/variables/nodes.h
towr::NodeCost
towr
node_spline.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
node__spline_8cc
towr/variables/node_spline.h
towr/variables/nodes.h
towr
node_spline.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
node__spline_8h
spline.h
nodes_observer.h
towr::NodeSpline
towr
nodes.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
nodes_8cc
towr/variables/nodes.h
towr
nodes.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
nodes_8h
state.h
nodes_observer.h
towr::Nodes::IndexInfo
towr::Nodes
towr
nodes_observer.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
nodes__observer_8cc
towr/variables/nodes_observer.h
../include/towr/variables/nodes.h
towr
nodes_observer.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
nodes__observer_8h
towr::NodesObserver
towr
parameters.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
parameters_8cc
towr/parameters.h
towr
parameters.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/
parameters_8h
towr::Parameters
towr
ConstraintName
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284c
Dynamic
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca03f5d4cadaab5f22a8bed5f4fbfb73cd
EndeffectorRom
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca42665f1cdd8fb78485761411d012eac9
TotalTime
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca43f2d01a319e90c5a5b721491c005d0e
Terrain
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca6c6973753b13f49eba1c19d3451d10ce
Force
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284caea489994b7455bed48143c71e60ce8c3
Swing
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca725355f68fac0bbe8a0c27cc58ddf3f0
BaseRom
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284caa7762afe6611da5e0eeb497b766637aa
BaseAcc
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca958c3dd54da5132138e92792a9a6d121
CostName
namespacetowr.html
a92d65e600d8223e8544639e2fe5ad775
ForcesCostID
namespacetowr.html
a92d65e600d8223e8544639e2fe5ad775acd13fc7577e993206c6c88dba49c0880
phase_durations.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
phase__durations_8cc
towr/variables/phase_durations.h
towr/variables/variable_names.h
towr/variables/spline.h
towr
phase_durations.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
phase__durations_8h
phase_durations_observer.h
towr::PhaseDurations
towr
phase_durations_observer.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
phase__durations__observer_8cc
towr/variables/phase_durations_observer.h
towr/variables/phase_durations.h
towr
phase_durations_observer.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
phase__durations__observer_8h
towr::PhaseDurationsObserver
towr
phase_nodes.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
phase__nodes_8cc
towr/variables/phase_nodes.h
towr/variables/cartesian_dimensions.h
towr
std::vector< PhaseNodes::PolyInfo >
BuildPolyInfos
namespacetowr.html
a4ce684f6f1fbf6c6a8f34a7515637a8f
(int phase_count, bool is_in_contact_at_start, int n_polys_in_changing_phase, PhaseNodes::Type type)
phase_nodes.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
phase__nodes_8h
nodes.h
towr::PhaseNodes
towr::PhaseNodes::PolyInfo
towr
phase_spline.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
phase__spline_8cc
towr/variables/phase_spline.h
towr/variables/phase_durations.h
towr
phase_spline.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
phase__spline_8h
node_spline.h
phase_durations_observer.h
phase_nodes.h
towr::PhaseSpline
towr
polynomial.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
polynomial_8cc
towr/variables/polynomial.h
towr
polynomial.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
polynomial_8h
state.h
towr::CubicHermitePolynomial
towr::Polynomial
towr
range_of_motion_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
range__of__motion__constraint_8cc
towr/constraints/range_of_motion_constraint.h
towr/variables/variable_names.h
towr
range_of_motion_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
range__of__motion__constraint_8h
towr/variables/spline.h
towr/variables/spline_holder.h
towr/variables/euler_converter.h
towr/models/kinematic_model.h
towr/parameters.h
time_discretization_constraint.h
towr::RangeOfMotionConstraint
towr
robot_model.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/
robot__model_8h
towr/models/dynamic_model.h
towr/models/kinematic_model.h
towr::RobotModel
towr
soft_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
soft__constraint_8cc
towr/costs/soft_constraint.h
towr
soft_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/costs/
soft__constraint_8h
towr::SoftConstraint
towr
spline.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
spline_8cc
towr/variables/spline.h
towr
spline.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
spline_8h
polynomial.h
towr::Spline
towr
spline_acc_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
spline__acc__constraint_8cc
towr/constraints/spline_acc_constraint.h
towr
spline_acc_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
spline__acc__constraint_8h
towr/variables/node_spline.h
towr::SplineAccConstraint
towr
spline_holder.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
spline__holder_8cc
towr/variables/spline_holder.h
towr/variables/phase_spline.h
towr
spline_holder.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
spline__holder_8h
phase_nodes.h
phase_durations.h
node_spline.h
nodes.h
towr::SplineHolder
towr
state.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
state_8cc
towr/variables/state.h
towr
state.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
state_8h
towr::BaseState
towr::Node
towr::State
towr
Dx
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4
kPos
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4abaaf8574a6b8ac2047a89314cd0bcc59
kVel
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4ac5df19accc626a63e47c984c38771135
kAcc
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4a4dd0dbeb9c444e072b85f2ed03ba89bb
kJerk
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4a2743db3a31c3ec85d29f114fb5a31f45
swing_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
swing__constraint_8cc
towr/constraints/swing_constraint.h
towr/variables/cartesian_dimensions.h
towr
swing_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
swing__constraint_8h
towr/variables/phase_nodes.h
towr::SwingConstraint
towr
terrain_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
terrain__constraint_8cc
towr/constraints/terrain_constraint.h
towr
terrain_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
terrain__constraint_8h
towr/variables/phase_nodes.h
towr/height_map.h
towr::TerrainConstraint
towr
time_discretization_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
time__discretization__constraint_8cc
towr/constraints/time_discretization_constraint.h
towr
time_discretization_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
time__discretization__constraint_8h
towr::TimeDiscretizationConstraint
towr
total_duration_constraint.cc
/tmp/catkin_workspace/src/towr/towr_core/src/
total__duration__constraint_8cc
towr/constraints/total_duration_constraint.h
towr/variables/variable_names.h
towr
total_duration_constraint.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/constraints/
total__duration__constraint_8h
towr/variables/phase_durations.h
towr::TotalDurationConstraint
towr
towr.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/
towr_8h
towr/variables/spline_holder.h
robot_model.h
height_map.h
nlp_factory.h
parameters.h
towr::TOWR
towr
variable_names.h
/tmp/catkin_workspace/src/towr/towr_core/include/towr/variables/
variable__names_8h
towr
towr::id
static std::string
EEForceNodes
namespacetowr_1_1id.html
a0e8c73586112430487e09f8307a9d87b
(uint ee)
static std::string
EEMotionNodes
namespacetowr_1_1id.html
a7726d3fdd457eb524e36c61eade33028
(uint ee)
static std::string
EESchedule
namespacetowr_1_1id.html
a8f80e25273a9c85f3e05f3f279981d66
(uint ee)
static const std::string
base_ang_nodes
namespacetowr_1_1id.html
a406150bbf05b49fa1b585c3793f0f42e
static const std::string
base_lin_nodes
namespacetowr_1_1id.html
a39732e8275916045b97bf469d979d7cb
static const std::string
contact_schedule
namespacetowr_1_1id.html
a20b32623aeb92201988fc1235cabf686
static const std::string
ee_force_nodes
namespacetowr_1_1id.html
a014be77d88ecbe62f9f12c3bf089e4b9
static const std::string
ee_motion_nodes
namespacetowr_1_1id.html
af88549c5b4ba2c4bfc1e0c79d6d42efd
towr::BaseMotionConstraint
classtowr_1_1BaseMotionConstraint.html
towr::TimeDiscretizationConstraint
BaseMotionConstraint
classtowr_1_1BaseMotionConstraint.html
aa794bc178dae44f46717c973c47abf55
(const Parameters ¶ms, const SplineHolder &spline_holder)
void
UpdateBoundsAtInstance
classtowr_1_1BaseMotionConstraint.html
ac13b1328c30f592df416ed2a933315e3
(double t, int k, VecBound &) const override
void
UpdateConstraintAtInstance
classtowr_1_1BaseMotionConstraint.html
ac8c25fd993c3f5935ec744942832add2
(double t, int k, VectorXd &g) const override
virtual void
UpdateJacobianAtInstance
classtowr_1_1BaseMotionConstraint.html
a12c191b934729b511b31282d36639d4b
(double t, int k, std::string, Jacobian &) const override
virtual
~BaseMotionConstraint
classtowr_1_1BaseMotionConstraint.html
a44da8ac8b4b3c088eb9f4022b57d1b70
()=default
int
GetRow
classtowr_1_1BaseMotionConstraint.html
acfac3973534686b4d6d3802db5cf0522
(int node, int dim) const
NodeSpline::Ptr
base_angular_
classtowr_1_1BaseMotionConstraint.html
aba18098cc979f830cf6178cff359284e
NodeSpline::Ptr
base_linear_
classtowr_1_1BaseMotionConstraint.html
a9c4a8ca5d0d8a197c3a54b81ae67c440
VecBound
node_bounds_
classtowr_1_1BaseMotionConstraint.html
ac759aee116249c04fd272726d4b2da25
towr::BaseNodes
classtowr_1_1BaseNodes.html
towr::Nodes
BaseNodes
classtowr_1_1BaseNodes.html
a32477e6d46c432ccee090684f250ffe9
(int n_nodes, std::string variable_id)
virtual std::vector< IndexInfo >
GetNodeInfoAtOptIndex
classtowr_1_1BaseNodes.html
a277e6b03984a24d42b15cf33f6a8dfd5
(int idx) const override
virtual
~BaseNodes
classtowr_1_1BaseNodes.html
a7c69eb246e97081d0b512bb9c9883159
()=default
towr::BaseState
structtowr_1_1BaseState.html
BaseState
structtowr_1_1BaseState.html
a5346f7a5951d9d6686b67ce1a60ea773
()
Node
ang
structtowr_1_1BaseState.html
aee1ef8477d782c6c8e608e70be3dd7d1
Node
lin
structtowr_1_1BaseState.html
a326c821c2b4b5234db2652140ce5540d
towr::CentroidalModel
classtowr_1_1CentroidalModel.html
towr::DynamicModel
CentroidalModel
classtowr_1_1CentroidalModel.html
a787daab10a391829312df8d2b9bee0a6
(double mass, const Eigen::Matrix3d &inertia_b, int ee_count)
CentroidalModel
classtowr_1_1CentroidalModel.html
abed391035a7ccf29c89e69e5dc19f1d5
(double mass, double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz, int ee_count)
virtual BaseAcc
GetDynamicViolation
classtowr_1_1CentroidalModel.html
afb25585256e3fb65d5bff395fc6d8805
() const override
virtual Jac
GetJacobianWrtBaseAng
classtowr_1_1CentroidalModel.html
a0382e1f5035eda85326fc10c421a8041
(const EulerConverter &base_angular, double t) const override
virtual Jac
GetJacobianWrtBaseLin
classtowr_1_1CentroidalModel.html
a97cc22e8b8d93d02ac93db40b2fc3d74
(const Jac &jac_base_lin_pos, const Jac &jac_acc_base_lin) const override
virtual Jac
GetJacobianWrtEEPos
classtowr_1_1CentroidalModel.html
a14ee4461f76dbb69fc77c9924fbdf26b
(const Jac &jac_ee_pos, EE) const override
virtual Jac
GetJacobianWrtForce
classtowr_1_1CentroidalModel.html
ae2bbd9f5df3ede7c92c406cd526f50c7
(const Jac &jac_force, EE) const override
virtual
~CentroidalModel
classtowr_1_1CentroidalModel.html
a26edd97f5054d66b52cbfd3b46431c16
()=default
Eigen::SparseMatrix< double, Eigen::RowMajor >
I_b
classtowr_1_1CentroidalModel.html
a956ffc7d0008c42d5600498f79fd8de6
towr::CubicHermitePolynomial
classtowr_1_1CubicHermitePolynomial.html
towr::Polynomial
CubicHermitePolynomial
classtowr_1_1CubicHermitePolynomial.html
ac14bb68beb5559c75a21796ff2f8cf2d
(int dim)
VectorXd
GetDerivativeOfPosWrtDuration
classtowr_1_1CubicHermitePolynomial.html
ad07fd303c50697469e1d4576f51d3dd6
(double t) const
double
GetDerivativeWrtEndNode
classtowr_1_1CubicHermitePolynomial.html
ae6b815be87564fa86db384c9c46cede3
(Dx dfdt, Dx node_deriv, double t) const
double
GetDerivativeWrtStartNode
classtowr_1_1CubicHermitePolynomial.html
a648fc33c037c7ff7d3c223e9a558eeb6
(Dx dfdt, Dx node_deriv, double t) const
const double
GetDuration
classtowr_1_1CubicHermitePolynomial.html
af615fab32bf20c1d0778a63aac069c5a
() const
void
SetDuration
classtowr_1_1CubicHermitePolynomial.html
ab6b6b628205b17cf5a08fecb88117ce7
(double duration)
void
SetNodes
classtowr_1_1CubicHermitePolynomial.html
a9d0dccf37b1b703560bc03090c27a501
(const Node &n0, const Node &n1)
void
UpdateCoeff
classtowr_1_1CubicHermitePolynomial.html
a4288b1e76c06ab4032ea23cd51e11482
()
virtual
~CubicHermitePolynomial
classtowr_1_1CubicHermitePolynomial.html
a938d0484f7d180524cf99105cafa64d4
()=default
double
GetDerivativeOfAccWrtEndNode
classtowr_1_1CubicHermitePolynomial.html
aa843b232724078794b28fdd7b67280a2
(Dx node_deriv, double t_local) const
double
GetDerivativeOfAccWrtStartNode
classtowr_1_1CubicHermitePolynomial.html
a283cb7701e1525168c13bcac8f3ac6a2
(Dx node_deriv, double t_local) const
double
GetDerivativeOfPosWrtEndNode
classtowr_1_1CubicHermitePolynomial.html
a191299c3d5f4e448a646dad6228c8ff3
(Dx node_deriv, double t_local) const
double
GetDerivativeOfPosWrtStartNode
classtowr_1_1CubicHermitePolynomial.html
afbad4e583e9646569b98a48f8b168c4e
(Dx node_deriv, double t_local) const
double
GetDerivativeOfVelWrtEndNode
classtowr_1_1CubicHermitePolynomial.html
a5e15997703485be9636ba475802f6de0
(Dx node_deriv, double t_local) const
double
GetDerivativeOfVelWrtStartNode
classtowr_1_1CubicHermitePolynomial.html
a60bd8b26e04208a6a5e53a2460c8e015
(Dx node_deriv, double t_local) const
Node
n0_
classtowr_1_1CubicHermitePolynomial.html
ad7422e8e9684223888459ee38b6cde69
Node
n1_
classtowr_1_1CubicHermitePolynomial.html
ac0503fb4bf0a3251c5c3d501ff7a0556
double
T_
classtowr_1_1CubicHermitePolynomial.html
a1766a336c0dfd904d4af2b0e13f0227c
towr::DynamicConstraint
classtowr_1_1DynamicConstraint.html
towr::TimeDiscretizationConstraint
Eigen::Matrix< double, 6, 1 >
Vector6d
classtowr_1_1DynamicConstraint.html
a1cc60222fb410a32a7697474b5dcd1e4
DynamicConstraint
classtowr_1_1DynamicConstraint.html
aaff35157a2e4dcd96d72f46a98593320
(const DynamicModel::Ptr &model, const Parameters ¶ms, const SplineHolder &spline_holder)
virtual
~DynamicConstraint
classtowr_1_1DynamicConstraint.html
a8a75ea170ed11e6662555e1a4417594a
()=default
int
GetRow
classtowr_1_1DynamicConstraint.html
a92f22b91d77634622e70d05d6b3fcae6
(int k, Dim6D dimension) const
virtual void
UpdateBoundsAtInstance
classtowr_1_1DynamicConstraint.html
a68ed248eff675705011e071cc06f0699
(double t, int k, VecBound &bounds) const override
virtual void
UpdateConstraintAtInstance
classtowr_1_1DynamicConstraint.html
a2f6ef47338ab40774a09ad037f3aba24
(double t, int k, VectorXd &g) const override
virtual void
UpdateJacobianAtInstance
classtowr_1_1DynamicConstraint.html
a66250296175d9fcb327c9659c81b22e0
(double t, int k, std::string, Jacobian &) const override
void
UpdateModel
classtowr_1_1DynamicConstraint.html
a1647aff6f83f2f35a6f43de25b76b39d
(double t) const
EulerConverter
base_angular_
classtowr_1_1DynamicConstraint.html
a629ac0c29cd54c072c37112482ee1108
NodeSpline::Ptr
base_linear_
classtowr_1_1DynamicConstraint.html
a3a74f1fa8cb694e42680d68e3a7ffbba
std::vector< NodeSpline::Ptr >
ee_forces_
classtowr_1_1DynamicConstraint.html
ad41a91fdd13577e4e1b86e2f1cb1256f
std::vector< NodeSpline::Ptr >
ee_motion_
classtowr_1_1DynamicConstraint.html
a2aa89584df1f43ed111b2b14717e26b6
DynamicModel::Ptr
model_
classtowr_1_1DynamicConstraint.html
a3ff3d0325f02a492966e57cf3e266131
towr::DynamicModel
classtowr_1_1DynamicModel.html
Eigen::Vector3d
AngVel
classtowr_1_1DynamicModel.html
a252c771aad53ea81c4bc93d9225f6c26
Eigen::Matrix< double, 6, 1 >
BaseAcc
classtowr_1_1DynamicModel.html
a93bf7945bc7863d13494461be898815a
Eigen::Vector3d
ComPos
classtowr_1_1DynamicModel.html
ab2c9965284b988eefdef4469365b21e7
uint
EE
classtowr_1_1DynamicModel.html
ac543aaff45c12c1d23ef9a85630a9fc6
EEPos
EELoad
classtowr_1_1DynamicModel.html
a66de14c56b11f569b29a879e1d0e1b03
std::vector< Eigen::Vector3d >
EEPos
classtowr_1_1DynamicModel.html
ac0ae1a09a4b32e1c66849f2cb602a32f
Eigen::SparseMatrix< double, Eigen::RowMajor >
Jac
classtowr_1_1DynamicModel.html
ad0c799c29d4dcfd663b8c70fc48325e0
Eigen::Matrix3d
Matrix3d
classtowr_1_1DynamicModel.html
aae7dc2ab879b3eb1f4a3b75d7c3b5beb
std::shared_ptr< DynamicModel >
Ptr
classtowr_1_1DynamicModel.html
a02f0063772f66184da4d74a8a4843627
Eigen::Vector3d
Vector3d
classtowr_1_1DynamicModel.html
af6186882e64316f29d625ee0a7c99e7b
double
g
classtowr_1_1DynamicModel.html
a11af83ee341e384a3fa23e3e3152f853
() const
virtual BaseAcc
GetDynamicViolation
classtowr_1_1DynamicModel.html
a4074694d392d9e45dc35b643fb47e2bf
() const =0
int
GetEECount
classtowr_1_1DynamicModel.html
ac59919742961fd4e28c01da2406febde
() const
virtual Jac
GetJacobianWrtBaseAng
classtowr_1_1DynamicModel.html
a618e8a4a51c1eecd9f7e80a22bf776e0
(const EulerConverter &base_angular, double t) const =0
virtual Jac
GetJacobianWrtBaseLin
classtowr_1_1DynamicModel.html
ac0f6a246b4dadd3ee458a39e7d624c17
(const Jac &jac_base_lin_pos, const Jac &jac_base_lin_acc) const =0
virtual Jac
GetJacobianWrtEEPos
classtowr_1_1DynamicModel.html
ada767f5f7891a48bb416b933a0adf91f
(const Jac &ee_pos, EE ee) const =0
virtual Jac
GetJacobianWrtForce
classtowr_1_1DynamicModel.html
a2afbd9ddf8e41f7b3186e61a700f7de1
(const Jac &ee_force, EE ee) const =0
double
m
classtowr_1_1DynamicModel.html
a987518cff2f6870521d3855322c3e61d
() const
void
SetCurrent
classtowr_1_1DynamicModel.html
acc53dd82023029c7125467b03d73e51d
(const ComPos &com_W, const Vector3d com_acc_W, const Matrix3d &w_R_b, const AngVel &omega_W, const Vector3d &omega_dot_W, const EELoad &force_W, const EEPos &pos_W)
DynamicModel
classtowr_1_1DynamicModel.html
a3197895cb65a0b35c3005852e2eb3716
(double mass, int ee_count)
virtual
~DynamicModel
classtowr_1_1DynamicModel.html
aaf7988c0f0ea3890dbd4ed5bc6452c02
()=default
Vector3d
com_acc_
classtowr_1_1DynamicModel.html
a16e26eb872243a1bf277eed8d2cf93aa
ComPos
com_pos_
classtowr_1_1DynamicModel.html
ade1625040da2e32d641bdd223907db7d
EELoad
ee_force_
classtowr_1_1DynamicModel.html
aba6d6df85b5eb2378f39f803dd44828e
EEPos
ee_pos_
classtowr_1_1DynamicModel.html
a45e8c0ff85352b16ab8cfe4843d16b2a
AngVel
omega_
classtowr_1_1DynamicModel.html
a5bbea43d66d38f592796e3753cd3b8a1
Vector3d
omega_dot_
classtowr_1_1DynamicModel.html
a05b0fa0fea718eee12ef6babf9b56e71
Matrix3d
w_R_b_
classtowr_1_1DynamicModel.html
a08a6a78834c2e44ff9c6fddf73a37390
double
g_
classtowr_1_1DynamicModel.html
a50e5fb07fd8473ad9df7fc7e2c6487cf
double
m_
classtowr_1_1DynamicModel.html
a5f3398d4d7cd334d6942a0cbed1af338
towr::EulerConverter
classtowr_1_1EulerConverter.html
Vector3d
EulerAngles
classtowr_1_1EulerConverter.html
ac421a6f1324c21290c30c5862ebf8678
Vector3d
EulerRates
classtowr_1_1EulerConverter.html
a352df00b870ddeeba19489e78df6ce9d
MatrixSXd
Jacobian
classtowr_1_1EulerConverter.html
a4f0bcd7c07525fd7fef83651d85a7fa0
Eigen::SparseVector< double, Eigen::RowMajor >
JacobianRow
classtowr_1_1EulerConverter.html
a596dcefca26677e8fb60f86a04ca1a32
std::array< std::array< JacobianRow, k3D >, k3D >
JacRowMatrix
classtowr_1_1EulerConverter.html
ae1680c91650dd0ded51055a730405281
Eigen::SparseMatrix< double, Eigen::RowMajor >
MatrixSXd
classtowr_1_1EulerConverter.html
a848a0fb94446635efb3d9b1639365f48
Eigen::Vector3d
Vector3d
classtowr_1_1EulerConverter.html
a4a4a0e40ddee227eb2c9bbccd0c24d12
Jacobian
DerivOfRotVecMult
classtowr_1_1EulerConverter.html
a9afda84532555614e9a942943bd0bbf7
(double t, const Vector3d &v, bool inverse) const
EulerConverter
classtowr_1_1EulerConverter.html
aeaa13d546c76354baa94dcd08083c381
()=default
EulerConverter
classtowr_1_1EulerConverter.html
ab853ee880523a9f4389879ee5c96ae85
(const NodeSpline::Ptr &euler_angles)
Vector3d
GetAngularAccelerationInWorld
classtowr_1_1EulerConverter.html
a96f27d3630b518de4c15389b4137eac0
(double t) const
Vector3d
GetAngularVelocityInWorld
classtowr_1_1EulerConverter.html
aa99fca83442bd806f17cc0e6535a3f69
(double t) const
Jacobian
GetDerivOfAngAccWrtEulerNodes
classtowr_1_1EulerConverter.html
a7afa2d62061bbfa41d8ccd8cce99e098
(double t) const
Jacobian
GetDerivOfAngVelWrtEulerNodes
classtowr_1_1EulerConverter.html
af7bcadd5e40ba6f425a937eee7d4ade2
(double t) const
Eigen::Quaterniond
GetQuaternionBaseToWorld
classtowr_1_1EulerConverter.html
a534173862ee8f6178233f4ee88a000af
(double t) const
MatrixSXd
GetRotationMatrixBaseToWorld
classtowr_1_1EulerConverter.html
a023c10d2758cc73dcea54f1fbdc25058
(double t) const
virtual
~EulerConverter
classtowr_1_1EulerConverter.html
aa6f8a6beef894975b4b050bd7f681ebc
()=default
JacRowMatrix
GetDerivativeOfRotationMatrixWrtNodes
classtowr_1_1EulerConverter.html
a97eaf54614c8f0e549d10b5193a0b7e9
(double t) const
Jacobian
GetDerivMdotwrtNodes
classtowr_1_1EulerConverter.html
a48c425969e7a1500451ddbba7fb7ba94
(double t, Dim3D dim) const
Jacobian
GetDerivMwrtNodes
classtowr_1_1EulerConverter.html
adba5db1c237153826b887c7bbb298581
(double t, Dim3D dim) const
JacobianRow
GetJac
classtowr_1_1EulerConverter.html
a13847a2c5b76c849dd60f7e64cf862cc
(double t, Dx deriv, Dim3D dim) const
static Vector3d
GetAngularAccelerationInWorld
classtowr_1_1EulerConverter.html
a87234afd0ced0532d18a989618418b27
(State euler)
static Vector3d
GetAngularVelocityInWorld
classtowr_1_1EulerConverter.html
a0a6961ae165215a4a52c5c784274062d
(const EulerAngles &pos, const EulerRates &vel)
static MatrixSXd
GetM
classtowr_1_1EulerConverter.html
ac59ec5151af6e5dcba88d2dce4a5fc6f
(const EulerAngles &xyz)
static MatrixSXd
GetMdot
classtowr_1_1EulerConverter.html
acc1c90c7ebd490ef1feebfc990370104
(const EulerAngles &xyz, const EulerRates &xyz_d)
static Eigen::Quaterniond
GetQuaternionBaseToWorld
classtowr_1_1EulerConverter.html
a94e0f184121709968277374bbe3a89e5
(const EulerAngles &pos)
static MatrixSXd
GetRotationMatrixBaseToWorld
classtowr_1_1EulerConverter.html
aa813f47a4632c50a599ee8a4077f2094
(const EulerAngles &xyz)
NodeSpline::Ptr
euler_
classtowr_1_1EulerConverter.html
a18cf187ca72bed410a73b417e7b27928
Jacobian
jac_wrt_nodes_structure_
classtowr_1_1EulerConverter.html
a413fc72af723e041edc45b9884426519
towr::ForceConstraint
classtowr_1_1ForceConstraint.html
uint
EE
classtowr_1_1ForceConstraint.html
abbef70cc73746c26745254b3764e15aa
Eigen::Vector3d
Vector3d
classtowr_1_1ForceConstraint.html
a8f874e4fca442aa3c605cf86733fd5d5
void
FillJacobianBlock
classtowr_1_1ForceConstraint.html
adae69f538914ab406eb1a952d49547b6
(std::string var_set, Jacobian &) const override
ForceConstraint
classtowr_1_1ForceConstraint.html
a24c3d50708793321f04e8492b8c76d99
(const HeightMap::Ptr &terrain, double force_limit_in_normal_direction, EE endeffector_id)
VecBound
GetBounds
classtowr_1_1ForceConstraint.html
a5197549b471d34d659e7dbd55df897fc
() const override
VectorXd
GetValues
classtowr_1_1ForceConstraint.html
ae8b3fab88cbca0d73ccf7d9ceeaf5325
() const override
virtual void
InitVariableDependedQuantities
classtowr_1_1ForceConstraint.html
acb20faaa1b57305483fcc2e492f9b16d
(const VariablesPtr &x) override
virtual
~ForceConstraint
classtowr_1_1ForceConstraint.html
aeaa6eaea44097b4c9060fd99d3edc813
()=default
EE
ee_
classtowr_1_1ForceConstraint.html
a01d9eb29030a03fa9432d42011907d01
PhaseNodes::Ptr
ee_force_
classtowr_1_1ForceConstraint.html
a84bffa238628998b45c81b5b0cbfd6e0
PhaseNodes::Ptr
ee_motion_
classtowr_1_1ForceConstraint.html
aa04e6813b532539e32f2f04de138fd99
double
fn_max_
classtowr_1_1ForceConstraint.html
a88c423d3914562ff5b11a999337cfdff
double
mu_
classtowr_1_1ForceConstraint.html
a3bcca6a86cb88c67e55a8aca97b59368
int
n_constraints_per_node_
classtowr_1_1ForceConstraint.html
ab5432f121f28e9c9448571f1f1119bb0
std::vector< int >
pure_stance_force_node_ids_
classtowr_1_1ForceConstraint.html
ac7fada1cde4595449e3792be7b4a9578
HeightMap::Ptr
terrain_
classtowr_1_1ForceConstraint.html
a38818410279519729af7c9ca061e7a89
towr::HeightMap
classtowr_1_1HeightMap.html
Direction
classtowr_1_1HeightMap.html
ae8e30b1d89b1b08759785ccc4ca7dfe2
Normal
classtowr_1_1HeightMap.html
ae8e30b1d89b1b08759785ccc4ca7dfe2a9301e393b55436fd7222ff2523de8ad2
Tangent1
classtowr_1_1HeightMap.html
ae8e30b1d89b1b08759785ccc4ca7dfe2aa95419cdfc13472c0d0865c9eac0f313
Tangent2
classtowr_1_1HeightMap.html
ae8e30b1d89b1b08759785ccc4ca7dfe2a937509c584c02a1374835418055b902e
Normal
classtowr_1_1HeightMap.html
ae8e30b1d89b1b08759785ccc4ca7dfe2a9301e393b55436fd7222ff2523de8ad2
std::shared_ptr< HeightMap >
Ptr
classtowr_1_1HeightMap.html
af774c5ba40a8ef1bcec9e520f7b80f2c
Tangent1
classtowr_1_1HeightMap.html
ae8e30b1d89b1b08759785ccc4ca7dfe2aa95419cdfc13472c0d0865c9eac0f313
Tangent2
classtowr_1_1HeightMap.html
ae8e30b1d89b1b08759785ccc4ca7dfe2a937509c584c02a1374835418055b902e
Eigen::Vector3d
Vector3d
classtowr_1_1HeightMap.html
a66d26d032d9ba8dc9cff7604d4119e04
double
GetDerivativeOfHeightWrt
classtowr_1_1HeightMap.html
a9ba8f4e49ba73eb13aba0b56e7a7f76d
(Dim2D dim, double x, double y) const
Vector3d
GetDerivativeOfNormalizedBasisWrt
classtowr_1_1HeightMap.html
ab758e161f5d003e32d27286487ba0616
(Direction direction, Dim2D dim, double x, double y) const
double
GetFrictionCoeff
classtowr_1_1HeightMap.html
a62eadf6abc9a5ab3d1d034a440a4fcaf
() const
virtual double
GetHeight
classtowr_1_1HeightMap.html
a21909ca0c9fb9c6db87c23c3bf2dcb76
(double x, double y) const =0
Vector3d
GetNormalizedBasis
classtowr_1_1HeightMap.html
ab83b176a234b4f2ea1b5cee5dca64e27
(Direction direction, double x, double y) const
HeightMap
classtowr_1_1HeightMap.html
a7865f2984928817a97be28eeb86c3158
()=default
virtual
~HeightMap
classtowr_1_1HeightMap.html
a056736a2fa4b5ef8f7bcfa05adffc6a6
()=default
double
friction_coeff_
classtowr_1_1HeightMap.html
a6c382658d4216c800aef611a32b18f2d
std::vector< Dim2D >
DimDerivs
classtowr_1_1HeightMap.html
a4a7d6c71171f0c673a7ec0c14b09b264
Vector3d
GetBasis
classtowr_1_1HeightMap.html
ac5a360549cc7ea82b6f39b81e96fd3d4
(Direction direction, double x, double y, const DimDerivs &dim_deriv={}) const
Vector3d
GetDerivativeOfNormalizedVectorWrtNonNormalizedIndex
classtowr_1_1HeightMap.html
ab3aa9117e80d53ace3e9d3f52de21ba0
(const Vector3d &non_normalized, int index) const
virtual double
GetHeightDerivWrtX
classtowr_1_1HeightMap.html
a345cb677ccd5d56e563504b956e5d4d9
(double x, double y) const
virtual double
GetHeightDerivWrtXX
classtowr_1_1HeightMap.html
af9c8f54961ae61a27c45599f3140c085
(double x, double y) const
virtual double
GetHeightDerivWrtXY
classtowr_1_1HeightMap.html
aa2f557c6927e8fea2c8c98a1dbd06478
(double x, double y) const
virtual double
GetHeightDerivWrtY
classtowr_1_1HeightMap.html
a758594317b632371f04bbb35b4b2f314
(double x, double y) const
virtual double
GetHeightDerivWrtYX
classtowr_1_1HeightMap.html
a848f07d7ba639f254f66e9ec2614a12b
(double x, double y) const
virtual double
GetHeightDerivWrtYY
classtowr_1_1HeightMap.html
a3230435ed69aad23f2be17493dbd0a99
(double x, double y) const
Vector3d
GetNormal
classtowr_1_1HeightMap.html
ad6706547e9f37710285521087ae266d0
(double x, double y, const DimDerivs &={}) const
double
GetSecondDerivativeOfHeightWrt
classtowr_1_1HeightMap.html
a9a5f7e87ec30e0b1df88e25a13b84a2b
(Dim2D dim1, Dim2D dim2, double x, double y) const
Vector3d
GetTangent1
classtowr_1_1HeightMap.html
a96458a2ec3d3653c6fae32d312c9739f
(double x, double y, const DimDerivs &={}) const
Vector3d
GetTangent2
classtowr_1_1HeightMap.html
a61fb63c7c76e49ed9e2b45068ef0dc42
(double x, double y, const DimDerivs &={}) const
towr::Nodes::IndexInfo
structtowr_1_1Nodes_1_1IndexInfo.html
IndexInfo
structtowr_1_1Nodes_1_1IndexInfo.html
a15a5284d6a13cfdb188fe28827a976b8
()=default
IndexInfo
structtowr_1_1Nodes_1_1IndexInfo.html
a22221d82b9dfe89ac277c51ab119349a
(int node_id, Dx deriv, int node_dim)
int
operator==
structtowr_1_1Nodes_1_1IndexInfo.html
acabdde81dcfb58861d3f238be35f7f79
(const IndexInfo &right) const
Dx
node_deriv_
structtowr_1_1Nodes_1_1IndexInfo.html
a088a54376f3077cf856f41e9fe082b39
int
node_dim_
structtowr_1_1Nodes_1_1IndexInfo.html
ac7654ef59f23ca66fdc781706612c0af
int
node_id_
structtowr_1_1Nodes_1_1IndexInfo.html
a80145a0dcd807da0eb937d0c89ce4c0b
towr::KinematicModel
classtowr_1_1KinematicModel.html
std::vector< Eigen::Vector3d >
EEPos
classtowr_1_1KinematicModel.html
afc2e37803fd2f878448e5275f5176473
std::shared_ptr< KinematicModel >
Ptr
classtowr_1_1KinematicModel.html
a23cbc935459fc59c0a764b6f8c5a0b37
Eigen::Vector3d
Vector3d
classtowr_1_1KinematicModel.html
a8f902be8ef9a8c548ede650610fdc760
virtual Vector3d
GetMaximumDeviationFromNominal
classtowr_1_1KinematicModel.html
ab2522cc992455031c465a91da48b8690
() const
virtual EEPos
GetNominalStanceInBase
classtowr_1_1KinematicModel.html
a11d29a83d4236ffa6596acc466221821
() const
KinematicModel
classtowr_1_1KinematicModel.html
a66a71173051694a111586fb9be9b3252
(int n_ee)
virtual
~KinematicModel
classtowr_1_1KinematicModel.html
ab3905a207688475e754d49b3ea25084a
()=default
Vector3d
max_dev_from_nominal_
classtowr_1_1KinematicModel.html
add91b952d1956a0c6de6c5029c36af81
EEPos
nominal_stance_
classtowr_1_1KinematicModel.html
ae781cd3d115a9c7a72fe76e57b8cb84e
towr::LinearEqualityConstraint
classtowr_1_1LinearEqualityConstraint.html
Eigen::MatrixXd
MatrixXd
classtowr_1_1LinearEqualityConstraint.html
a4636d254b2f54b9242db991f38979f94
void
FillJacobianBlock
classtowr_1_1LinearEqualityConstraint.html
a15f800bba0cd6146ed8f2ba012ca698f
(std::string var_set, Jacobian &) const overridefinal
VecBound
GetBounds
classtowr_1_1LinearEqualityConstraint.html
a77d4487004ee4b2bfe9d4d95607403ad
() const overridefinal
VectorXd
GetValues
classtowr_1_1LinearEqualityConstraint.html
af1a89ddc2ba67ec04153857e2c536728
() const overridefinal
LinearEqualityConstraint
classtowr_1_1LinearEqualityConstraint.html
a51acd68e6eaa156e9d6652c39919bfae
(const MatrixXd &M, const VectorXd &v, const std::string &variable_set)
virtual
~LinearEqualityConstraint
classtowr_1_1LinearEqualityConstraint.html
a82589cff70f95bfca162c9a3551a41aa
()=default
MatrixXd
M_
classtowr_1_1LinearEqualityConstraint.html
af15786d7982369b127746e559631f307
VectorXd
v_
classtowr_1_1LinearEqualityConstraint.html
ae329eca1f0102da8e281dbc148f2aec4
std::string
variable_name_
classtowr_1_1LinearEqualityConstraint.html
afb7b372356acdf1f2460002526379b4a
towr::NlpFactory
classtowr_1_1NlpFactory.html
std::vector< ifopt::ConstraintSet::Ptr >
ContraintPtrVec
classtowr_1_1NlpFactory.html
a84fafb56e957ad3c500010bfed73cc8a
std::vector< ifopt::CostTerm::Ptr >
CostPtrVec
classtowr_1_1NlpFactory.html
aa01637a9351cfefde120919c512f3b60
std::vector< Eigen::Vector3d >
EEPos
classtowr_1_1NlpFactory.html
aefee9ef04d82d77eb56db9c2d3477063
std::vector< ifopt::VariableSet::Ptr >
VariablePtrVec
classtowr_1_1NlpFactory.html
a960dfbfb70dd3acbd6f1856edb4e7a96
Eigen::Vector3d
Vector3d
classtowr_1_1NlpFactory.html
a8341fc6172fe41f675e714285beab4bb
ContraintPtrVec
GetConstraints
classtowr_1_1NlpFactory.html
a780090add64ba77bb5f855b4f8fdd608
() const
ContraintPtrVec
GetCosts
classtowr_1_1NlpFactory.html
a13ffe5d804480f02cee81a02c8a25eff
() const
VariablePtrVec
GetVariableSets
classtowr_1_1NlpFactory.html
ae1a27805a6d098716ef50a5cc7910161
()
NlpFactory
classtowr_1_1NlpFactory.html
a098e6cd02fac75a3ee7ece0a79cbaa69
()=default
virtual
~NlpFactory
classtowr_1_1NlpFactory.html
ab877bfaa8833344aa18977a70eec173e
()=default
BaseState
final_base_
classtowr_1_1NlpFactory.html
ab998bbfc5b5c1fd6bbedddd2b72accf9
BaseState
initial_base_
classtowr_1_1NlpFactory.html
a500a1bccae10c2afc857411bed9ebe00
EEPos
initial_ee_W_
classtowr_1_1NlpFactory.html
a5607c683e4a15528092a12804874fb2e
RobotModel
model_
classtowr_1_1NlpFactory.html
afb20dfa9bafda20a8ef5104f86b6613e
Parameters
params_
classtowr_1_1NlpFactory.html
ab088eb02d8e5532b490513d57c464f9c
SplineHolder
spline_holder_
classtowr_1_1NlpFactory.html
a09d76d6d206fc93c01c7bd5c5051be28
HeightMap::Ptr
terrain_
classtowr_1_1NlpFactory.html
a6b3d5de015c2aa5a7a36f1b9ce43ac2c
ContraintPtrVec
GetConstraint
classtowr_1_1NlpFactory.html
a596c9db7f0e028b27a51ea2be2c174ea
(ConstraintName name) const
CostPtrVec
GetCost
classtowr_1_1NlpFactory.html
abbbff5fcb75e0b81dddcfe62bd02943b
(const CostName &id, double weight) const
ContraintPtrVec
MakeBaseAccConstraint
classtowr_1_1NlpFactory.html
ac45660cdae2f126187ad61d3f5d1ec85
() const
ContraintPtrVec
MakeBaseRangeOfMotionConstraint
classtowr_1_1NlpFactory.html
a63b2014a67c870e1293f78e69165d6e1
() const
std::vector< Nodes::Ptr >
MakeBaseVariables
classtowr_1_1NlpFactory.html
a8b8944dc5d556fb7a5ffc202a31c84d7
() const
std::vector< PhaseDurations::Ptr >
MakeContactScheduleVariables
classtowr_1_1NlpFactory.html
a82e0a744b3af77d8b79cd87da397e32f
() const
ContraintPtrVec
MakeDynamicConstraint
classtowr_1_1NlpFactory.html
ab03883ff4db90f75b26fc3d226e1f3d5
() const
std::vector< PhaseNodes::Ptr >
MakeEndeffectorVariables
classtowr_1_1NlpFactory.html
a0c8d6e0e05abb32c841ef0da19c31154
() const
ContraintPtrVec
MakeForceConstraint
classtowr_1_1NlpFactory.html
a4e8d08e8708f874c3a7f4df8a0d7d044
() const
CostPtrVec
MakeForcesCost
classtowr_1_1NlpFactory.html
a909eec2525413f646429b7bab662d85a
(double weight) const
std::vector< PhaseNodes::Ptr >
MakeForceVariables
classtowr_1_1NlpFactory.html
adc96cc7dc1df5fd07b04345bf084384a
() const
ContraintPtrVec
MakeRangeOfMotionBoxConstraint
classtowr_1_1NlpFactory.html
a0376f53ad8d9011c99c2980ad818e10e
() const
ContraintPtrVec
MakeSwingConstraint
classtowr_1_1NlpFactory.html
a594405ec1a8281abd397003bc364a8ee
() const
ContraintPtrVec
MakeTerrainConstraint
classtowr_1_1NlpFactory.html
a4ad0abb35b03efba810ef871dbce76fc
() const
ContraintPtrVec
MakeTotalTimeConstraint
classtowr_1_1NlpFactory.html
af364f659d41aecd72cf3ae0519451a22
() const
towr::Node
classtowr_1_1Node.html
towr::State
Node
classtowr_1_1Node.html
a1c4c388eb5307d44c3aab075dac3857a
(int dim=0)
virtual
~Node
classtowr_1_1Node.html
ae4051590252266687e2412d53bb2f6e7
()=default
static const int
n_derivatives
classtowr_1_1Node.html
ac295f42a0afbcad669e9c0cad9847ed8
towr::NodeCost
classtowr_1_1NodeCost.html
double
GetCost
classtowr_1_1NodeCost.html
a41142f1356522b33c872f9965acad7bc
() const override
virtual void
InitVariableDependedQuantities
classtowr_1_1NodeCost.html
a551d3a9c822106b0e3ca0d90bb6f8bde
(const VariablesPtr &x) override
NodeCost
classtowr_1_1NodeCost.html
a39f894179b8f0d23d58bf430e7354515
(const std::string &nodes_id, Dx deriv, int dim)
virtual
~NodeCost
classtowr_1_1NodeCost.html
a1077f02b678dd10956d0e28f5138f8f3
()=default
void
FillJacobianBlock
classtowr_1_1NodeCost.html
a44c9dc999d610d81cff45531cb8489d8
(std::string var_set, Jacobian &) const override
Dx
deriv_
classtowr_1_1NodeCost.html
a447231533dbfb4a6dbbf4a3d9d1bb1e9
int
dim_
classtowr_1_1NodeCost.html
af123ec135cab24ccf83c4e481aa6ad33
std::string
node_id_
classtowr_1_1NodeCost.html
a83ba04a363410dbc0cb0f8cea66231e6
std::shared_ptr< Nodes >
nodes_
classtowr_1_1NodeCost.html
a901966ca4b22018180e135453c6e7483
towr::Nodes
classtowr_1_1Nodes.html
towr::Nodes::IndexInfo
End
classtowr_1_1Nodes.html
aa9aeb8cf6c6a012ca1cc1aa21eff67f9aed847b985c7fa867634d622b3b52cdde
NodesObserver *
ObserverPtr
classtowr_1_1Nodes.html
a17076cfc87a0aa593f2f8d9ce6ac841c
std::shared_ptr< Nodes >
Ptr
classtowr_1_1Nodes.html
ab7d1d684a9e7ecbcc7602b1f5c2edef9
Side
classtowr_1_1Nodes.html
aa9aeb8cf6c6a012ca1cc1aa21eff67f9
Start
classtowr_1_1Nodes.html
aa9aeb8cf6c6a012ca1cc1aa21eff67f9ac1eba4ec694987efabaa396449796214
End
classtowr_1_1Nodes.html
aa9aeb8cf6c6a012ca1cc1aa21eff67f9aed847b985c7fa867634d622b3b52cdde
Start
classtowr_1_1Nodes.html
aa9aeb8cf6c6a012ca1cc1aa21eff67f9ac1eba4ec694987efabaa396449796214
std::vector< double >
VecDurations
classtowr_1_1Nodes.html
ab1e2cedd7ec3bfc808fec8d584be97f6
void
AddFinalBound
classtowr_1_1Nodes.html
ae5abfc9e1032033f50a94a8501e11afa
(Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
void
AddObserver
classtowr_1_1Nodes.html
ae47ed68f1575bbb210f854e538e95e77
(ObserverPtr const spline)
void
AddStartBound
classtowr_1_1Nodes.html
a506ce3407b5e0e0a272d74a8055f7790
(Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
const std::vector< Node >
GetBoundaryNodes
classtowr_1_1Nodes.html
a467d45f338c7d0867c05e11aba962ef3
(int poly_id) const
virtual VecBound
GetBounds
classtowr_1_1Nodes.html
a724874134ae6df8bd3a5aeaa507eb797
() const override
int
GetDim
classtowr_1_1Nodes.html
a9b861e2f42ab18a192a92add133b412d
() const
virtual std::vector< IndexInfo >
GetNodeInfoAtOptIndex
classtowr_1_1Nodes.html
a902e127f2863b649ddeb14f0e54823a0
(int idx) const =0
const std::vector< Node >
GetNodes
classtowr_1_1Nodes.html
ae1a7f93bc24efd24d46a88930c4f86fb
() const
int
GetPolynomialCount
classtowr_1_1Nodes.html
a7f61ed86f59364625468d246e6fbb6c2
() const
VectorXd
GetValues
classtowr_1_1Nodes.html
a52f776f3606b9d7ee11ee4183ebee2dd
() const override
int
Index
classtowr_1_1Nodes.html
a8e5f8a932ac644cf66a7ab0d6db2c61b
(const IndexInfo &node_info) const
int
Index
classtowr_1_1Nodes.html
a72d16cc3659d422bb1188229fc43eaf1
(int node_id, Dx deriv, int node_dim) const
void
InitializeNodesTowardsGoal
classtowr_1_1Nodes.html
af37411f522d997d41cff5234fafead7f
(const VectorXd &initial_pos, const VectorXd &final_pos, double t_total)
void
SetVariables
classtowr_1_1Nodes.html
a52abe5e3898448cdd404a9cdb1730d98
(const VectorXd &x) override
static int
GetNodeId
classtowr_1_1Nodes.html
af065f984530d73ee7af3d6119164ac43
(int poly_id, Side side)
void
InitMembers
classtowr_1_1Nodes.html
a75a13f65ac6ad1b51ed78656ca308439
(int n_nodes, int n_variables)
Nodes
classtowr_1_1Nodes.html
a7a47d69d41aa50463a1255157f707c7d
(int n_dim, const std::string &variable_name)
virtual
~Nodes
classtowr_1_1Nodes.html
ad646708961899f520c777e560dc97141
()=default
VecBound
bounds_
classtowr_1_1Nodes.html
a7a20f96409474ba5dbd7ac1057903d81
void
AddBound
classtowr_1_1Nodes.html
af77c45a6f47f7b8af05c88380ab41845
(const IndexInfo &node_info, double value)
void
AddBounds
classtowr_1_1Nodes.html
ad001e564048cd22806f533f140adae43
(int node_id, Dx deriv, const std::vector< int > &dim, const VectorXd &values)
void
UpdateObservers
classtowr_1_1Nodes.html
a7587196b6716e1d888fbf9b00bdb1d60
() const
int
n_dim_
classtowr_1_1Nodes.html
ab9b2b78fa87d45d5ba06e5cab784c21e
std::vector< Node >
nodes_
classtowr_1_1Nodes.html
a0cf7f1ac3c7575bf66b54373eda3bc90
std::vector< ObserverPtr >
observers_
classtowr_1_1Nodes.html
a533544a928db1df6cc9cc2849270939f
towr::NodesObserver
classtowr_1_1NodesObserver.html
Nodes *
NodeSubjectPtr
classtowr_1_1NodesObserver.html
aac8365732578b2d69f8a3f0bbcdb4822
NodesObserver
classtowr_1_1NodesObserver.html
a4ff1a51fbf063b0b53a1d3e16aa58a57
(NodeSubjectPtr node_values)
virtual void
UpdateNodes
classtowr_1_1NodesObserver.html
a2e65935212ca3f31ab7f437ed7b305b2
()=0
virtual
~NodesObserver
classtowr_1_1NodesObserver.html
a12d5ef063375fd828ead356a60d9dacf
()=default
NodeSubjectPtr
node_values_
classtowr_1_1NodesObserver.html
a4a88f9192d77f503a35ada1cbf3e0cc8
towr::NodeSpline
classtowr_1_1NodeSpline.html
towr::Spline
towr::NodesObserver
Eigen::SparseMatrix< double, Eigen::RowMajor >
Jacobian
classtowr_1_1NodeSpline.html
a346528115cb2a7e1eb509eebfc65bd71
std::shared_ptr< NodeSpline >
Ptr
classtowr_1_1NodeSpline.html
a43f999961e822cd5a9dca75afefd0213
virtual Jacobian
GetJacobianOfPosWrtDurations
classtowr_1_1NodeSpline.html
aa6bae6dbe70d134e7cf8dbbe0cb4370c
(double t) const
Jacobian
GetJacobianWrtNodes
classtowr_1_1NodeSpline.html
a31541f0790cb65d521bb53a884f1a8f5
(double t, Dx dxdt) const
Jacobian
GetJacobianWrtNodes
classtowr_1_1NodeSpline.html
a6ea0a2bb8b554d4308cf26b0a3ccdcf0
(int poly_id, double t_local, Dx dxdt) const
int
GetNodeVariablesCount
classtowr_1_1NodeSpline.html
aaaab53c50dab0e3e3ce8a060f35aad01
() const
NodeSpline
classtowr_1_1NodeSpline.html
a0a3ff73da36e166d2f93e1db8f81779d
(NodeSubjectPtr const node_variables, const VecTimes &polynomial_durations)
void
UpdateNodes
classtowr_1_1NodeSpline.html
a47ae011b79c13d80d525373954c998ca
()
~NodeSpline
classtowr_1_1NodeSpline.html
a0406eff38a908ce08d6990ca725bf0af
()=default
void
FillJacobianWrtNodes
classtowr_1_1NodeSpline.html
a4dca3945b4c7b6a2c4f36b43b277992f
(int poly_id, double t_local, Dx dxdt, Jacobian &jac, bool fill_with_zeros) const
Jacobian
jac_wrt_nodes_structure_
classtowr_1_1NodeSpline.html
a15d6b85f4c6e9fc6563345b93b71466b
towr::Parameters
structtowr_1_1Parameters.html
std::vector< std::pair< CostName, double >>
CostWeights
structtowr_1_1Parameters.html
a5ee432550005c03b31ff3412a4d9bb1e
unsigned int
EEID
structtowr_1_1Parameters.html
a7731718891b2cb4a884f0c2fd3b50383
std::vector< ConstraintName >
UsedConstraints
structtowr_1_1Parameters.html
a5673f2f90483e40f3e2d2359b1da2fd4
std::vector< double >
VecTimes
structtowr_1_1Parameters.html
aabb5d65fb61e96f5cfdd3a1aea6272a5
VecTimes
GetBasePolyDurations
structtowr_1_1Parameters.html
aa6478a0fc9a9c187f4a5dd52188dbe76
() const
int
GetEECount
structtowr_1_1Parameters.html
a619d492ab0e32504702fc7753f575ee7
() const
int
GetPhaseCount
structtowr_1_1Parameters.html
a08becfa4e3c0b38456656aa5f2e77add
(EEID ee) const
bool
OptimizeTimings
structtowr_1_1Parameters.html
a7b282f4d990ac9f9830af2860163f228
() const
Parameters
structtowr_1_1Parameters.html
a384a30d212730596dc59d6bab3da0c73
()
virtual
~Parameters
structtowr_1_1Parameters.html
a80ce4ddd98b121b7fc6823a3b3800899
()=default
UsedConstraints
constraints_
structtowr_1_1Parameters.html
a1d967676cf57413efdc5cdf65ad9886c
CostWeights
costs_
structtowr_1_1Parameters.html
a59fa5a4859573efd59cdec3e45595d75
double
dt_constraint_base_motion_
structtowr_1_1Parameters.html
a3c4fd6bff4eaa9a05f860f8cf8a7ea96
double
dt_constraint_dynamic_
structtowr_1_1Parameters.html
a66234585e7ad82bb663099cdcb6ef53b
double
dt_constraint_range_of_motion_
structtowr_1_1Parameters.html
a89bab1ecc4e6fba1303a8e51237187a4
double
duration_base_polynomial_
structtowr_1_1Parameters.html
af05f51ac84df52e749af3616a5e376dc
std::vector< bool >
ee_in_contact_at_start_
structtowr_1_1Parameters.html
a336f28b75ace4bea141ec6501befec61
std::vector< VecTimes >
ee_phase_durations_
structtowr_1_1Parameters.html
a0284ad6843d7d331ad3cc0f0db1fe416
int
ee_polynomials_per_swing_phase_
structtowr_1_1Parameters.html
a24409670f1e24cce0fa865f3796a4833
double
force_limit_in_norm_
structtowr_1_1Parameters.html
a9878a332fae3f8f3e15f7a0477b798c6
int
force_polynomials_per_stance_phase_
structtowr_1_1Parameters.html
a76d18e72ce71a1f7af09663d3cb0a28a
double
max_phase_duration_
structtowr_1_1Parameters.html
a1707ae7181d2d9de780650f3d82f76eb
double
min_phase_duration_
structtowr_1_1Parameters.html
a5627cbb7f43fecbd147d589e23f92e4f
double
t_total_
structtowr_1_1Parameters.html
a823375d1889b19088c1646a89ff5c207
towr::PhaseDurations
classtowr_1_1PhaseDurations.html
uint
EndeffectorID
classtowr_1_1PhaseDurations.html
a03caad637c5acca48ebd69982d63291f
std::shared_ptr< PhaseDurations >
Ptr
classtowr_1_1PhaseDurations.html
a6f740dc34b36159012b632f421fcf01f
std::vector< double >
VecDurations
classtowr_1_1PhaseDurations.html
aaddc568e9d5e7f90d747c2cf6c07b38e
void
AddObserver
classtowr_1_1PhaseDurations.html
a0dc9067647382fae86d10c45d4a59712
(PhaseDurationsObserver *const spline)
VecBound
GetBounds
classtowr_1_1PhaseDurations.html
ab3fcb4919c06562d70a0c6a41f6cb4a1
() const override
Jacobian
GetJacobianOfPos
classtowr_1_1PhaseDurations.html
a4780d8dac1b0778d9c2ef57657d1d13d
(int phase, const VectorXd &dx_dT, const VectorXd &xd) const
VecDurations
GetPhaseDurations
classtowr_1_1PhaseDurations.html
a8508209bf4bbe6bb98c26aa379ff9bd1
() const
virtual VectorXd
GetValues
classtowr_1_1PhaseDurations.html
a9bd530bdb20598aced640ef90828af9e
() const override
bool
IsContactPhase
classtowr_1_1PhaseDurations.html
acfe38cd08b159493855871e2e4878add
(double t) const
PhaseDurations
classtowr_1_1PhaseDurations.html
abf9f55d8610a55776015ac8a12c1c243
(EndeffectorID ee, const VecDurations &initial_durations, bool is_first_phase_in_contact, double min_phase_duration, double max_phase_duration)
virtual void
SetVariables
classtowr_1_1PhaseDurations.html
a315e68a8113265d15e4034eb6aeee782
(const VectorXd &x) override
virtual
~PhaseDurations
classtowr_1_1PhaseDurations.html
ae89d71ee4909b9464089f1c64e3910f9
()=default
void
UpdateObservers
classtowr_1_1PhaseDurations.html
a7b7d1465390f0c0d0b89407df733a361
() const
VecDurations
durations_
classtowr_1_1PhaseDurations.html
ac182c6e23cadf60ea0c78f4641278cee
bool
initial_contact_state_
classtowr_1_1PhaseDurations.html
ad8bbe86f94f8c1203ea01d3ec53bca9f
std::vector< PhaseDurationsObserver * >
observers_
classtowr_1_1PhaseDurations.html
ac3a0979ce82b526a7d3057f4c920154e
ifopt::Bounds
phase_duration_bounds_
classtowr_1_1PhaseDurations.html
ab49577af7d03d117d00b3b56c20f9af8
double
t_total_
classtowr_1_1PhaseDurations.html
a20388d514c204327afac2992dc711120
towr::PhaseDurationsObserver
classtowr_1_1PhaseDurationsObserver.html
PhaseDurations *
PhaseDurationsSubjectPtr
classtowr_1_1PhaseDurationsObserver.html
a13becde70e4bd1f924fbd5f8d79cbe73
PhaseDurationsObserver
classtowr_1_1PhaseDurationsObserver.html
a796d3d0d6393a3ef1d51031ae907539e
()=default
PhaseDurationsObserver
classtowr_1_1PhaseDurationsObserver.html
a5f8e51683893a55544e2f8828cb4f466
(PhaseDurationsSubjectPtr phase_durations)
virtual void
UpdatePolynomialDurations
classtowr_1_1PhaseDurationsObserver.html
a7211d487c5946313fb9676155449c2b4
()=0
virtual
~PhaseDurationsObserver
classtowr_1_1PhaseDurationsObserver.html
a4086655ef753e9f52a754da9eb61b40c
()=default
PhaseDurationsSubjectPtr
phase_durations_
classtowr_1_1PhaseDurationsObserver.html
a92ca19646d574298582fb0932e9cc9ae
towr::PhaseNodes
classtowr_1_1PhaseNodes.html
towr::Nodes
towr::PhaseNodes::PolyInfo
Force
classtowr_1_1PhaseNodes.html
a1a33728302638dc53e821e68c26b0573aa9b6808fd2119824a0addfa6ea666615
Motion
classtowr_1_1PhaseNodes.html
a1a33728302638dc53e821e68c26b0573a8a8bc6fb9fa694cc127ab80bd36048e8
std::vector< int >
NodeIds
classtowr_1_1PhaseNodes.html
a7c2d7c36e8756792f22c8e5fc6c4bfe8
int
OptNodeIs
classtowr_1_1PhaseNodes.html
a7a22b8c52f87da66da17df6f35f94839
std::shared_ptr< PhaseNodes >
Ptr
classtowr_1_1PhaseNodes.html
a9b27ca66b698ba777a85bce63954b9da
Type
classtowr_1_1PhaseNodes.html
a1a33728302638dc53e821e68c26b0573
Force
classtowr_1_1PhaseNodes.html
a1a33728302638dc53e821e68c26b0573aa9b6808fd2119824a0addfa6ea666615
Motion
classtowr_1_1PhaseNodes.html
a1a33728302638dc53e821e68c26b0573a8a8bc6fb9fa694cc127ab80bd36048e8
virtual VecDurations
ConvertPhaseToPolyDurations
classtowr_1_1PhaseNodes.html
a5ddc07f2412962c814413f21f25a4a75
(const VecDurations &phase_durations) const
virtual double
GetDerivativeOfPolyDurationWrtPhaseDuration
classtowr_1_1PhaseNodes.html
a37b09e9365ff1d73d31df7421b282ec5
(int polynomial_id) const
NodeIds
GetIndicesOfNonConstantNodes
classtowr_1_1PhaseNodes.html
aa47ce950ddfba125d877075ddca4a7ef
() const
int
GetNodeIDAtStartOfPhase
classtowr_1_1PhaseNodes.html
a256bc6c37e7fe8eaf71066900d98a0c4
(int phase) const
virtual std::vector< IndexInfo >
GetNodeInfoAtOptIndex
classtowr_1_1PhaseNodes.html
a79a48eeed9f9e91ce9ad1e463c5cf120
(int idx) const override
virtual int
GetNumberOfPrevPolynomialsInPhase
classtowr_1_1PhaseNodes.html
a81f42f75d61d14b2bd835e261dd5c0b4
(int polynomial_id) const
int
GetPhase
classtowr_1_1PhaseNodes.html
aad4af6fe83e2c6b1ec7b6cb0ce416bdb
(int node_id) const
Eigen::Vector3d
GetValueAtStartOfPhase
classtowr_1_1PhaseNodes.html
a4375b7395bdb7ac75e2f8794b6eb9803
(int phase) const
virtual bool
IsConstantNode
classtowr_1_1PhaseNodes.html
ab60a88fc36fe268eeb5b2c961910c9a7
(int node_id) const
virtual bool
IsInConstantPhase
classtowr_1_1PhaseNodes.html
aca366ca7ba89a05d03f9b7cd7e282071
(int polynomial_id) const
PhaseNodes
classtowr_1_1PhaseNodes.html
a7aa2c9c22e7fb67bbce62c4dd2b0d67f
(int phase_count, bool in_contact_start, const std::string &var_name, int n_polys_in_changing_phase, Type type)
virtual
~PhaseNodes
classtowr_1_1PhaseNodes.html
a85a9727ef118f854ed0f8f64d07a900a
()=default
std::vector< int >
GetAdjacentPolyIds
classtowr_1_1PhaseNodes.html
af343eb0808991866f8f6253816f2fb96
(int node_id) const
int
GetPolyIDAtStartOfPhase
classtowr_1_1PhaseNodes.html
a3532be7890c0e4c44027aa23b3136250
(int phase) const
void
SetBoundsEEForce
classtowr_1_1PhaseNodes.html
acc98a12ba2262f4a0af2ebaab70fc9ee
()
void
SetBoundsEEMotion
classtowr_1_1PhaseNodes.html
a62cfd61585476a73a2e6d0de361cdea7
()
static std::map< OptNodeIs, NodeIds >
GetOptNodeToNodeMappings
classtowr_1_1PhaseNodes.html
a8e3ed4c1d84793d65f5d039299b4f9aa
(const std::vector< PolyInfo > &)
std::map< OptNodeIs, NodeIds >
optnode_to_node_
classtowr_1_1PhaseNodes.html
a38266b6fd979cbfc549c24d90e1f0fbd
std::vector< PolyInfo >
polynomial_info_
classtowr_1_1PhaseNodes.html
a1be1b016fca53cd1964231ffc4d3f6f2
towr::PhaseSpline
classtowr_1_1PhaseSpline.html
towr::NodeSpline
towr::PhaseDurationsObserver
std::shared_ptr< PhaseSpline >
Ptr
classtowr_1_1PhaseSpline.html
a9cf679b0598070ad8a3cdd0b3de7e443
Eigen::VectorXd
VectorXd
classtowr_1_1PhaseSpline.html
ad644ae9629c96d3699a8681abf3186eb
Jacobian
GetJacobianOfPosWrtDurations
classtowr_1_1PhaseSpline.html
ab0bdac0c7bfbdd2122384249d6f63f32
(double t) const override
PhaseSpline
classtowr_1_1PhaseSpline.html
a2f9242156966ece87740d7eadd405110
(PhaseNodes::Ptr const node_variables, PhaseDurations *const phase_durations)
virtual void
UpdatePolynomialDurations
classtowr_1_1PhaseSpline.html
a0d13384180423ec3090949214dde5d85
() override
~PhaseSpline
classtowr_1_1PhaseSpline.html
a0cc7f8645117bb0dec5552964a8988d3
()=default
Eigen::VectorXd
GetDerivativeOfPosWrtPhaseDuration
classtowr_1_1PhaseSpline.html
a4943ab70edc0d68e2fa4ac358d8cc0b8
(double t) const
PhaseNodes::Ptr
phase_nodes_
classtowr_1_1PhaseSpline.html
a450ef2fb39312c1ec4dd295272f5cad6
towr::PhaseNodes::PolyInfo
structtowr_1_1PhaseNodes_1_1PolyInfo.html
PolyInfo
structtowr_1_1PhaseNodes_1_1PolyInfo.html
a20a3cb5f81eb46f26f10f443923bbe22
(int phase, int poly_in_phase, int n_polys_in_phase, bool is_const)
bool
is_constant_
structtowr_1_1PhaseNodes_1_1PolyInfo.html
a82732b66e2e48d1a7dff1d640dd9d40b
int
n_polys_in_phase_
structtowr_1_1PhaseNodes_1_1PolyInfo.html
ab5da7712c0296f61f76356d9e099e1e6
int
phase_
structtowr_1_1PhaseNodes_1_1PolyInfo.html
a6909b12e79bec9774e7f26f1a89503f3
int
poly_in_phase_
structtowr_1_1PhaseNodes_1_1PolyInfo.html
a9e45c7ccf26d26dd07cf5d6893f80e10
towr::Polynomial
classtowr_1_1Polynomial.html
A
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba369332a0d4c06acd50d1524bf08824e3
B
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbac6c52d885234279430e73c3d42f96d4d
C
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbad39bc8dc0b217e6fca8f773f1d017449
Coefficients
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcb
A
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba369332a0d4c06acd50d1524bf08824e3
B
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbac6c52d885234279430e73c3d42f96d4d
C
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbad39bc8dc0b217e6fca8f773f1d017449
D
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba6dd07301496ea91925da3982ead8e76a
E
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaaba3352c0d0d6c0ad1462434d59332ec
F
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbac3f67d9a4da2ad6425a4092607edfec1
G
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba465ddea69214458de40c0a595c6f03b9
H
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaa4b0c8894d50e1f5d7f98a08a6d342d9
I
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba31ad1ecc8939b7b018898561390d05af
J
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaa26d9d78d412b926d20fdf2fa7b8a9a6
std::vector< Coefficients >
CoeffIDVec
classtowr_1_1Polynomial.html
a2a628b747ea5b5731e894d040c5dfb6b
D
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba6dd07301496ea91925da3982ead8e76a
E
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaaba3352c0d0d6c0ad1462434d59332ec
F
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbac3f67d9a4da2ad6425a4092607edfec1
G
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba465ddea69214458de40c0a595c6f03b9
H
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaa4b0c8894d50e1f5d7f98a08a6d342d9
I
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba31ad1ecc8939b7b018898561390d05af
J
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaa26d9d78d412b926d20fdf2fa7b8a9a6
Eigen::VectorXd
VectorXd
classtowr_1_1Polynomial.html
afe33355a2f85470371551154a6df3c02
double
GetDerivativeWrtCoeff
classtowr_1_1Polynomial.html
afb3cd75604610813a7206daab93d8de2
(double t, Dx poly_deriv, Coefficients coeff) const
State
GetPoint
classtowr_1_1Polynomial.html
a477b8f3237101b608ec86c9824d91270
(double t) const
Polynomial
classtowr_1_1Polynomial.html
a07bf79b425eea20aad175a45fead9edb
(int poly_order, int poly_dim)
virtual
~Polynomial
classtowr_1_1Polynomial.html
aebd2298852debe7858813fe43ea9b35e
()=default
std::vector< VectorXd >
coeff_
classtowr_1_1Polynomial.html
a8b140015016fa345426f3e9b19662632
CoeffIDVec
coeff_ids_
classtowr_1_1Polynomial.html
ab6d82a0afbbb691dcbe01d51fae88e6c
towr::RangeOfMotionConstraint
classtowr_1_1RangeOfMotionConstraint.html
towr::TimeDiscretizationConstraint
uint
EE
classtowr_1_1RangeOfMotionConstraint.html
ac25cefe28317118a5ba1cabc746f6e4e
Eigen::Vector3d
Vector3d
classtowr_1_1RangeOfMotionConstraint.html
aaf8477e702219992e9c429cff67c993e
RangeOfMotionConstraint
classtowr_1_1RangeOfMotionConstraint.html
af5b734b787ee246d962bf3eae82b01b4
(const KinematicModel::Ptr &robot_model, const Parameters ¶ms, const EE &ee, const SplineHolder &spline_holder)
virtual
~RangeOfMotionConstraint
classtowr_1_1RangeOfMotionConstraint.html
ad4e319e13b6f597eae84560d7120cc86
()=default
int
GetRow
classtowr_1_1RangeOfMotionConstraint.html
a5bf53d6c4148d227612acd1c9d38d17f
(int node, int dimension) const
void
UpdateBoundsAtInstance
classtowr_1_1RangeOfMotionConstraint.html
a48260d2699de6d6876f4edcd6289b639
(double t, int k, VecBound &) const override
void
UpdateConstraintAtInstance
classtowr_1_1RangeOfMotionConstraint.html
acefd83fff93ddc8100c45db2c24832cb
(double t, int k, VectorXd &g) const override
virtual void
UpdateJacobianAtInstance
classtowr_1_1RangeOfMotionConstraint.html
a1819e4dca16f956ffa3be273e8bd73ef
(double t, int k, std::string, Jacobian &) const override
EulerConverter
base_angular_
classtowr_1_1RangeOfMotionConstraint.html
a9f2fb3b84af6afc4ab275045e55899d0
NodeSpline::Ptr
base_linear_
classtowr_1_1RangeOfMotionConstraint.html
a4cd66f652d239de5c4b2070df4807c7f
EE
ee_
classtowr_1_1RangeOfMotionConstraint.html
a814f83ecd10d3f6dcb316ac3ad3d9354
NodeSpline::Ptr
ee_motion_
classtowr_1_1RangeOfMotionConstraint.html
a66cb7c4d6d3b221f31c9ca6271a56acc
Eigen::Vector3d
max_deviation_from_nominal_
classtowr_1_1RangeOfMotionConstraint.html
ad20877e9c11af073a5c5286b0c8bdf0d
Eigen::Vector3d
nominal_ee_pos_B_
classtowr_1_1RangeOfMotionConstraint.html
a1c43c68f10d0cc600efc213bf58a300f
towr::RobotModel
structtowr_1_1RobotModel.html
DynamicModel::Ptr
dynamic_model_
structtowr_1_1RobotModel.html
a4c5f831840739788e1fc45fc734cce8f
KinematicModel::Ptr
kinematic_model_
structtowr_1_1RobotModel.html
a1f8c263f2cb4a0126a75c64ae94ebdb0
towr::SoftConstraint
classtowr_1_1SoftConstraint.html
Component::Ptr
ConstraintPtr
classtowr_1_1SoftConstraint.html
a2eb433e9d2ca698d6d20128196435885
SoftConstraint
classtowr_1_1SoftConstraint.html
ace537113e8b68b1667193317590ba35d
(const ConstraintPtr &constraint)
virtual
~SoftConstraint
classtowr_1_1SoftConstraint.html
a1da05c587f6425602b92bfd3fd7717e0
()=default
virtual VecBound
GetBounds
classtowr_1_1SoftConstraint.html
aa8605585738224fc1669b113d3730672
() const overridefinal
virtual Jacobian
GetJacobian
classtowr_1_1SoftConstraint.html
a61880b2d41ac12ac64fc4e5127d57d3e
() const override
virtual VectorXd
GetValues
classtowr_1_1SoftConstraint.html
a78fa11c709604008b06cf03f043e3237
() const override
virtual void
SetVariables
classtowr_1_1SoftConstraint.html
aa16ea4ddf43970fce0a8e8cc3f3a40cf
(const VectorXd &x) overridefinal
VectorXd
b_
classtowr_1_1SoftConstraint.html
acee0c9ad3fa4a606fa12d03f38f36fd9
ConstraintPtr
constraint_
classtowr_1_1SoftConstraint.html
a9b7bc4fb64aabb5e242d43c7d88633c4
VectorXd
W_
classtowr_1_1SoftConstraint.html
a29f946eff9ede86c27093079c08c4170
towr::Spline
classtowr_1_1Spline.html
std::vector< CubicHermitePolynomial >
VecPoly
classtowr_1_1Spline.html
acccbb25fd95d6d57cc310e19e001b99e
std::vector< double >
VecTimes
classtowr_1_1Spline.html
a0bdfd4aab4f86ac275ccf834e2d59387
const State
GetPoint
classtowr_1_1Spline.html
a658752d190854d33f2853aa6bf773954
(double t) const
const State
GetPoint
classtowr_1_1Spline.html
ab7562a8a7c73d87c73812ee83d2d8bd7
(int poly_id, double t_local) const
VecTimes
GetPolyDurations
classtowr_1_1Spline.html
aeadbe313c37678cc693161365a077e55
() const
int
GetPolynomialCount
classtowr_1_1Spline.html
a21d53428c3258def3aaa8cdcf135568a
() const
double
GetTotalTime
classtowr_1_1Spline.html
ab19caa094e08d36888beca4b66d55f35
() const
Spline
classtowr_1_1Spline.html
a059b55bf0547a97c9aab9be18bba3bad
(const VecTimes &poly_durations, int n_dim)
virtual
~Spline
classtowr_1_1Spline.html
a5b68a7d3a2e3bd66d8d3d0b1c06c45a9
()=default
static int
GetSegmentID
classtowr_1_1Spline.html
acb2b4e6693cff7bea8eb3f32452d42a2
(double t_global, const VecTimes &durations)
std::pair< int, double >
GetLocalTime
classtowr_1_1Spline.html
ad76069a0b774aaf58d675872e14df9f4
(double t_global, const VecTimes &d) const
void
UpdatePolynomialCoeff
classtowr_1_1Spline.html
a3208fbf383a4c69f8ee18486152a6f2e
()
VecPoly
cubic_polys_
classtowr_1_1Spline.html
a65d064567733492c05401033d4a925e8
towr::SplineAccConstraint
classtowr_1_1SplineAccConstraint.html
void
FillJacobianBlock
classtowr_1_1SplineAccConstraint.html
ae4895edc41c9d6c29e39ee2ef5093d88
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1SplineAccConstraint.html
ad820b44fb523b46ff2d27e7e784d5f87
() const override
VectorXd
GetValues
classtowr_1_1SplineAccConstraint.html
a6a872636ba26d70acf5972451978db30
() const override
SplineAccConstraint
classtowr_1_1SplineAccConstraint.html
adf67464c035ab5de6c5bc4c053e5dfab
(const NodeSpline::Ptr &spline, std::string name)
virtual
~SplineAccConstraint
classtowr_1_1SplineAccConstraint.html
afee212fb5ebfad9f509c4fbe811a3151
()=default
int
n_dim_
classtowr_1_1SplineAccConstraint.html
acf4eb6fee8ee85b90ac4e4ffc3851b05
int
n_junctions_
classtowr_1_1SplineAccConstraint.html
aebc34b69f7daec1c21df66a65a353791
std::string
node_variables_id_
classtowr_1_1SplineAccConstraint.html
aa324719827d588f3a52677a983244449
NodeSpline::Ptr
spline_
classtowr_1_1SplineAccConstraint.html
a4e8a2405a268ef9ec89babadf914f4cf
std::vector< double >
T_
classtowr_1_1SplineAccConstraint.html
ab7245c4ffe07e37a7177dfd472b8f8b7
towr::SplineHolder
structtowr_1_1SplineHolder.html
SplineHolder
structtowr_1_1SplineHolder.html
a3404b4808ba1ff6fd86a0729c95a344d
(Nodes::Ptr base_lin, Nodes::Ptr base_ang, const std::vector< double > &base_poly_durations, std::vector< PhaseNodes::Ptr > ee_motion, std::vector< PhaseNodes::Ptr > ee_force, std::vector< PhaseDurations::Ptr > phase_durations, bool ee_durations_change)
SplineHolder
structtowr_1_1SplineHolder.html
a65d4aa2f5fde8e201fad141b97c30eb7
()=default
NodeSpline::Ptr
base_angular_
structtowr_1_1SplineHolder.html
a97b703b3118c5f93fc6c443bff3ccb80
NodeSpline::Ptr
base_linear_
structtowr_1_1SplineHolder.html
abe0b01ab3cf09ab88016e3b432060d54
std::vector< NodeSpline::Ptr >
ee_force_
structtowr_1_1SplineHolder.html
a0adb14a05263667e621a1b958e66620e
std::vector< NodeSpline::Ptr >
ee_motion_
structtowr_1_1SplineHolder.html
a0ef7acf0c9240c5b2adc7f30a6231e3c
std::vector< PhaseDurations::Ptr >
phase_durations_
structtowr_1_1SplineHolder.html
a3294767a959653e994c9321cba28f766
towr::State
classtowr_1_1State.html
Eigen::VectorXd
VectorXd
classtowr_1_1State.html
a77ab49135b92456239847818435773da
const VectorXd
a
classtowr_1_1State.html
ae64b719a7d496f18bcb0dbdbec4588f8
() const
const VectorXd
at
classtowr_1_1State.html
a77ce454d97f40d0c991d4ce1998656c4
(Dx deriv) const
VectorXd &
at
classtowr_1_1State.html
af75250b16c773404e37bf9367c4d05ca
(Dx deriv)
const VectorXd
p
classtowr_1_1State.html
a0d53993ea7e93184cb7c2010f14913ab
() const
State
classtowr_1_1State.html
aa55d5d87dbc2478022d0be1cf37a1bcd
(int dim, int n_derivatives)
const VectorXd
v
classtowr_1_1State.html
a41fd6cacde9df8a20186c3f189ad6fe8
() const
virtual
~State
classtowr_1_1State.html
aa8fcbe04efafaab37d2085f576955c1a
()=default
std::vector< VectorXd >
values_
classtowr_1_1State.html
ae3b70b41a5a203751fb3f5c5eab1a974
towr::SwingConstraint
classtowr_1_1SwingConstraint.html
Eigen::Vector2d
Vector2d
classtowr_1_1SwingConstraint.html
a649e291b4e9b36330e79de8417470244
void
FillJacobianBlock
classtowr_1_1SwingConstraint.html
aee9fe27b85cd367893206b05602faa69
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1SwingConstraint.html
a1ec6aa8736f72a9d9af9e26899266e59
() const override
VectorXd
GetValues
classtowr_1_1SwingConstraint.html
a184b57887ca9e1c157c60cec4d4e0bdb
() const override
virtual void
InitVariableDependedQuantities
classtowr_1_1SwingConstraint.html
a05f82d8519363330cf4b044cc492249b
(const VariablesPtr &x) override
SwingConstraint
classtowr_1_1SwingConstraint.html
aed0d74fd4bf710955ee1aecf3ff6d1a8
(std::string ee_motion_id)
virtual
~SwingConstraint
classtowr_1_1SwingConstraint.html
a6c736deab7e8d4ad58e5ee5b46591362
()=default
PhaseNodes::Ptr
ee_motion_
classtowr_1_1SwingConstraint.html
afadf489e3bc545841227c2bd78705df4
std::string
ee_motion_id_
classtowr_1_1SwingConstraint.html
a48e6ac7c5c3be736462ce56b15de3acf
std::vector< int >
pure_swing_node_ids_
classtowr_1_1SwingConstraint.html
a478cca7940c0ece5bb8e6c978fbc1c7b
double
t_swing_avg_
classtowr_1_1SwingConstraint.html
a6825141b3fb0401cdbe8d37ec42844c8
towr::TerrainConstraint
classtowr_1_1TerrainConstraint.html
Eigen::Vector3d
Vector3d
classtowr_1_1TerrainConstraint.html
a876e0ae28273a28ea3f14364a2eacb19
void
FillJacobianBlock
classtowr_1_1TerrainConstraint.html
afa95ab6784260870164c4c1d0cf36960
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1TerrainConstraint.html
a773c94a18b3a4f8d38bea68c48b4f9cc
() const override
VectorXd
GetValues
classtowr_1_1TerrainConstraint.html
a01283a09855909fa31d9da99dc7371a7
() const override
virtual void
InitVariableDependedQuantities
classtowr_1_1TerrainConstraint.html
a837de5fc54b6c2840a7beea478072b60
(const VariablesPtr &x) override
TerrainConstraint
classtowr_1_1TerrainConstraint.html
afe4a34274b83dbd9d8220274bd0128e4
(const HeightMap::Ptr &terrain, std::string ee_motion_id)
virtual
~TerrainConstraint
classtowr_1_1TerrainConstraint.html
a65457ca1a2637b9c1d21f2e85189a47d
()=default
PhaseNodes::Ptr
ee_motion_
classtowr_1_1TerrainConstraint.html
a76aff6b43eb182fedcbbb309317edc0c
std::string
ee_motion_id_
classtowr_1_1TerrainConstraint.html
ad9d6bcceb5e5c8dc1b3617f19692fe13
std::vector< int >
node_ids_
classtowr_1_1TerrainConstraint.html
a376bdfb280195c25143c0ea7ac785ee2
HeightMap::Ptr
terrain_
classtowr_1_1TerrainConstraint.html
a999e130c59bb4f71878f230b58e172de
towr::TimeDiscretizationConstraint
classtowr_1_1TimeDiscretizationConstraint.html
ifopt::Bounds
Bounds
classtowr_1_1TimeDiscretizationConstraint.html
a728d93a32f946bcf6f9b3452ec189e51
std::vector< double >
VecTimes
classtowr_1_1TimeDiscretizationConstraint.html
a1e5c341fda71497aff90efbc7f62998b
void
FillJacobianBlock
classtowr_1_1TimeDiscretizationConstraint.html
af62238da8286b33638bb9af7a8101a3e
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1TimeDiscretizationConstraint.html
ac4907e2389590d6977e90c3116ea1364
() const override
Eigen::VectorXd
GetValues
classtowr_1_1TimeDiscretizationConstraint.html
afe2a94d825dd100f1059fe8d9cd5a761
() const override
TimeDiscretizationConstraint
classtowr_1_1TimeDiscretizationConstraint.html
af0d91a9406aadce1855c3c40956bf3a2
(double T, double dt, std::string constraint_name)
TimeDiscretizationConstraint
classtowr_1_1TimeDiscretizationConstraint.html
a23521257509a1920d029a0c7bc6dd1a9
(const VecTimes &dts, std::string name)
virtual
~TimeDiscretizationConstraint
classtowr_1_1TimeDiscretizationConstraint.html
a8d8d1849e2674f427e761b1b8e1238f3
()=default
int
GetNumberOfNodes
classtowr_1_1TimeDiscretizationConstraint.html
ac6c9994bc754a93a053d24462be20d26
() const
VecTimes
dts_
classtowr_1_1TimeDiscretizationConstraint.html
a36c328a9d3ab44a4c94b5a47b968a15e
virtual void
UpdateBoundsAtInstance
classtowr_1_1TimeDiscretizationConstraint.html
a7916a9c62b8815814ad78cf3c813616a
(double t, int k, VecBound &b) const =0
virtual void
UpdateConstraintAtInstance
classtowr_1_1TimeDiscretizationConstraint.html
ac0135daec3b5fa2b09c501b503f31395
(double t, int k, VectorXd &g) const =0
virtual void
UpdateJacobianAtInstance
classtowr_1_1TimeDiscretizationConstraint.html
a2e5d2d7dfe92b4f6316869e02902770b
(double t, int k, std::string var_set, Jacobian &jac) const =0
towr::TotalDurationConstraint
classtowr_1_1TotalDurationConstraint.html
uint
EE
classtowr_1_1TotalDurationConstraint.html
a11d94885111e06535e4ee7552a5fa94a
void
FillJacobianBlock
classtowr_1_1TotalDurationConstraint.html
a3c969587cc8710ce5cfa1bad2a1a316d
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1TotalDurationConstraint.html
a3dad6ad9fc7cb4056d7b46f1c364d4cf
() const override
VectorXd
GetValues
classtowr_1_1TotalDurationConstraint.html
a623b76a52bb0b5bf9651848c9227ff42
() const override
virtual void
InitVariableDependedQuantities
classtowr_1_1TotalDurationConstraint.html
ae739635f15c833b98f178524e3722f9a
(const VariablesPtr &x) override
TotalDurationConstraint
classtowr_1_1TotalDurationConstraint.html
adea6c57fb7ae8fabc5da86456ce38525
(double T_total, int ee)
~TotalDurationConstraint
classtowr_1_1TotalDurationConstraint.html
a77bdc1372b268501ef31f558035355db
()=default
EE
ee_
classtowr_1_1TotalDurationConstraint.html
a33766e92f55d0ebe906deee627f3a4c6
PhaseDurations::Ptr
phase_durations_
classtowr_1_1TotalDurationConstraint.html
a19d385aea664c25db1875f9493a08e12
double
T_total_
classtowr_1_1TotalDurationConstraint.html
a69792e6c31f0af719ace297fed40c8ba
towr::TOWR
classtowr_1_1TOWR.html
std::vector< Eigen::Vector3d >
FeetPos
classtowr_1_1TOWR.html
a87a817a8d22617ac60d67702913c8822
int
GetIterationCount
classtowr_1_1TOWR.html
a6ee01e606497796cbd3a548a7b257c12
() const
SplineHolder
GetSolution
classtowr_1_1TOWR.html
aa527f7bceb2be57109fc71f31a65bd04
() const
void
SetInitialState
classtowr_1_1TOWR.html
ac75d6fe6a6500beda5255ff159702022
(const BaseState &base, const FeetPos &feet)
void
SetParameters
classtowr_1_1TOWR.html
a098cb09792f3ef0e79fd92017d832178
(const BaseState &final_base, const Parameters ¶ms, const RobotModel &model, HeightMap::Ptr terrain)
void
SetSolution
classtowr_1_1TOWR.html
a3081e21eabf115178d7c84499d85f748
(int solver_iteration)
void
SolveNLP
classtowr_1_1TOWR.html
a4700066fa888836ba7f8351487bc6b97
()
TOWR
classtowr_1_1TOWR.html
ae11a2f2a9821bae9e610e7f9df87cc17
()
virtual
~TOWR
classtowr_1_1TOWR.html
a235dde162f53c9e418a24d331c6f6bd0
()=default
ifopt::Problem
BuildNLP
classtowr_1_1TOWR.html
a671148e542aa05553368ab1cdfebc8e0
()
NlpFactory
factory_
classtowr_1_1TOWR.html
a0c7c2acf7c6309e2aeb61638282505a2
ifopt::Problem
nlp_
classtowr_1_1TOWR.html
abaed9ccf8ab2e0c2c29e14c7ce26c470
towr
namespacetowr.html
towr::id
towr::BaseMotionConstraint
towr::BaseNodes
towr::BaseState
towr::CentroidalModel
towr::CubicHermitePolynomial
towr::DynamicConstraint
towr::DynamicModel
towr::EulerConverter
towr::ForceConstraint
towr::HeightMap
towr::KinematicModel
towr::LinearEqualityConstraint
towr::NlpFactory
towr::Node
towr::NodeCost
towr::Nodes
towr::NodesObserver
towr::NodeSpline
towr::Parameters
towr::PhaseDurations
towr::PhaseDurationsObserver
towr::PhaseNodes
towr::PhaseSpline
towr::Polynomial
towr::RangeOfMotionConstraint
towr::RobotModel
towr::SoftConstraint
towr::Spline
towr::SplineAccConstraint
towr::SplineHolder
towr::State
towr::SwingConstraint
towr::TerrainConstraint
towr::TimeDiscretizationConstraint
towr::TotalDurationConstraint
towr::TOWR
Eigen::VectorXd
VectorXd
namespacetowr.html
a0edeb5b8cd551b3f0d34caa31610bf80
ConstraintName
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284c
Dynamic
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca03f5d4cadaab5f22a8bed5f4fbfb73cd
EndeffectorRom
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca42665f1cdd8fb78485761411d012eac9
TotalTime
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca43f2d01a319e90c5a5b721491c005d0e
Terrain
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca6c6973753b13f49eba1c19d3451d10ce
Force
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284caea489994b7455bed48143c71e60ce8c3
Swing
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca725355f68fac0bbe8a0c27cc58ddf3f0
BaseRom
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284caa7762afe6611da5e0eeb497b766637aa
BaseAcc
namespacetowr.html
a3ef7a39707279bc98d59d74aa802284ca958c3dd54da5132138e92792a9a6d121
CostName
namespacetowr.html
a92d65e600d8223e8544639e2fe5ad775
ForcesCostID
namespacetowr.html
a92d65e600d8223e8544639e2fe5ad775acd13fc7577e993206c6c88dba49c0880
Dim2D
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22
X_
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22aa48e85b666356ba14014d3536d7d3c76
Y_
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22ae61c89de600253b7fc91477fe59a8036
Dim3D
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1ab
X
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba7296aa172d6a26b5e3e902b6eea2cd71
Y
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba3c49225a1786df3372154971a2b84531
Z
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba0dbc36c12672f2b47a0a7e1437c42c96
Dim6D
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1
AX
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a355f87b306764c9c6be5dbbbb2493e1c
AY
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a6412b99c699425165783fbda7fc99f16
AZ
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1aec9ae16c09af83e36aeca46204975b08
LX
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1adecb79d0fec84980cd473a0fa84268ac
LY
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a28b5595514ff769c3fd7ea610c3eb821
LZ
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1add512fe7eb81591d3f5b55abea4ae67c
Dx
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4
kPos
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4abaaf8574a6b8ac2047a89314cd0bcc59
kVel
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4ac5df19accc626a63e47c984c38771135
kAcc
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4a4dd0dbeb9c444e072b85f2ed03ba89bb
kJerk
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4a2743db3a31c3ec85d29f114fb5a31f45
static Eigen::Matrix3d
BuildInertiaTensor
namespacetowr.html
af172c1b6ab15396f6470aea1be58ab23
(double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz)
std::vector< PhaseNodes::PolyInfo >
BuildPolyInfos
namespacetowr.html
a4ce684f6f1fbf6c6a8f34a7515637a8f
(int phase_count, bool is_in_contact_at_start, int n_polys_in_changing_phase, PhaseNodes::Type type)
CentroidalModel::Jac
Cross
namespacetowr.html
af0c8aef9deec0b015af06d5b54de7990
(const Eigen::Vector3d &in)
TEST
namespacetowr.html
a2fc83b8de8ba55b27008c0cc7f4ed936
(CentroidalDynamicsTest, GetBaseAcceleration)
TEST
namespacetowr.html
a0538d9895a998159be0d520a3b1373ae
(CentroidalDynamicsTest, GetJacobianOfAccWrtBase)
TEST
namespacetowr.html
a14c7e386f7ddbc5b46aa2328e76f041b
(DynamicConstraintTest, EigenScalar)
TEST
namespacetowr.html
a05c7d331c5389a95173718d7eb4d76b5
(CentroidalDynamicsTest, TestRotations)
static Dim2D
To2D
namespacetowr.html
ae6322a84caddb2b6cdcd87a64f75bb26
(Dim3D dim)
static const Dim6D
AllDim6D
namespacetowr.html
a60191bac09e48281aa7dd724f8d68fa5
[]
static constexpr int
k2D
namespacetowr.html
a3e763b542b4de7f794902ab46d6dfe69
static constexpr int
k3D
namespacetowr.html
a3525aa8198bc9d9b12f3a7461874597e
static constexpr int
k6D
namespacetowr.html
abd44e13e224990ecfbb0ea1e3604cfe5
towr::id
namespacetowr_1_1id.html
static std::string
EEForceNodes
namespacetowr_1_1id.html
a0e8c73586112430487e09f8307a9d87b
(uint ee)
static std::string
EEMotionNodes
namespacetowr_1_1id.html
a7726d3fdd457eb524e36c61eade33028
(uint ee)
static std::string
EESchedule
namespacetowr_1_1id.html
a8f80e25273a9c85f3e05f3f279981d66
(uint ee)
static const std::string
base_ang_nodes
namespacetowr_1_1id.html
a406150bbf05b49fa1b585c3793f0f42e
static const std::string
base_lin_nodes
namespacetowr_1_1id.html
a39732e8275916045b97bf469d979d7cb
static const std::string
contact_schedule
namespacetowr_1_1id.html
a20b32623aeb92201988fc1235cabf686
static const std::string
ee_force_nodes
namespacetowr_1_1id.html
a014be77d88ecbe62f9f12c3bf089e4b9
static const std::string
ee_motion_nodes
namespacetowr_1_1id.html
af88549c5b4ba2c4bfc1e0c79d6d42efd