Public Types | Public Member Functions | Private Attributes | List of all members
towr::TerrainConstraint Class Reference

Ensures the endeffectors always lays on or above terrain height. More...

#include <terrain_constraint.h>

Inheritance diagram for towr::TerrainConstraint:
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Public Types

using Vector3d = Eigen::Vector3d
 

Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const override
 
VecBound GetBounds () const override
 
VectorXd GetValues () const override
 
virtual void InitVariableDependedQuantities (const VariablesPtr &x) override
 
 TerrainConstraint (const HeightMap::Ptr &terrain, std::string ee_motion_id)
 Constructs a terrain constraint. More...
 
virtual ~TerrainConstraint ()=default
 

Private Attributes

PhaseNodes::Ptr ee_motion_
 the position of the endeffector. More...
 
std::string ee_motion_id_
 the name of the endeffector variable set. More...
 
std::vector< int > node_ids_
 the indices of the nodes constrained. More...
 
HeightMap::Ptr terrain_
 the height map of the current terrain. More...
 

Detailed Description

Ensures the endeffectors always lays on or above terrain height.

When using interior point solvers such as IPOPT to solve the problem, this constraint also keeps the foot nodes far from the terrain, causing a leg lifting during swing-phase. This is convenient.

Attention: This is enforced only at the spline nodes.

Definition at line 49 of file terrain_constraint.h.

Member Typedef Documentation

using towr::TerrainConstraint::Vector3d = Eigen::Vector3d

Definition at line 51 of file terrain_constraint.h.

Constructor & Destructor Documentation

towr::TerrainConstraint::TerrainConstraint ( const HeightMap::Ptr terrain,
std::string  ee_motion_id 
)

Constructs a terrain constraint.

Parameters
terrainThe terrain height value and slope for each position x,y.
ee_motion_idThe name of the endeffector variable set.

Definition at line 36 of file terrain_constraint.cc.

virtual towr::TerrainConstraint::~TerrainConstraint ( )
virtualdefault

Member Function Documentation

void towr::TerrainConstraint::FillJacobianBlock ( std::string  var_set,
Jacobian &  jac 
) const
override

Definition at line 91 of file terrain_constraint.cc.

TerrainConstraint::VecBound towr::TerrainConstraint::GetBounds ( ) const
override

Definition at line 73 of file terrain_constraint.cc.

Eigen::VectorXd towr::TerrainConstraint::GetValues ( ) const
override

Definition at line 58 of file terrain_constraint.cc.

void towr::TerrainConstraint::InitVariableDependedQuantities ( const VariablesPtr &  x)
overridevirtual

Definition at line 45 of file terrain_constraint.cc.

Member Data Documentation

PhaseNodes::Ptr towr::TerrainConstraint::ee_motion_
private

the position of the endeffector.

Definition at line 68 of file terrain_constraint.h.

std::string towr::TerrainConstraint::ee_motion_id_
private

the name of the endeffector variable set.

Definition at line 71 of file terrain_constraint.h.

std::vector<int> towr::TerrainConstraint::node_ids_
private

the indices of the nodes constrained.

Definition at line 72 of file terrain_constraint.h.

HeightMap::Ptr towr::TerrainConstraint::terrain_
private

the height map of the current terrain.

Definition at line 69 of file terrain_constraint.h.


The documentation for this class was generated from the following files:


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:58