crocoddyl  1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
SimpleQuadrupedGaitProblem Class Reference

Public Member Functions

 SimpleQuadrupedGaitProblem (const pinocchio::Model &rmodel, const std::string &lf_foot, const std::string &rf_foot, const std::string &lh_foot, const std::string &rh_foot)
 
std::vector< boost::shared_ptr< crocoddyl::ActionModelAbstract > > createFootStepModels (const double timeStep, Eigen::Vector3d &comPos0, std::vector< Eigen::Vector3d > &feetPos0, const double stepLength, const double stepHeight, const std::size_t numKnots, const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds)
 
boost::shared_ptr< ActionModelAbstractcreateFootSwitchModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds, const std::vector< pinocchio::SE3 > &swingFootTask, const bool pseudoImpulse=false)
 
boost::shared_ptr< ActionModelAbstractcreateImpulseModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds, const std::vector< pinocchio::SE3 > &ref_swingFootTask)
 
boost::shared_ptr< ActionModelAbstractcreatePseudoImpulseModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds, const std::vector< pinocchio::SE3 > &swingFootTask)
 
boost::shared_ptr< ActionModelAbstractcreateSwingFootModel (const double timeStep, const std::vector< pinocchio::FrameIndex > &supportFootIds, const Eigen::Vector3d &comTask=Eigen::Vector3d::Constant(std::numeric_limits< double >::infinity()), const std::vector< pinocchio::FrameIndex > &swingFootIds=std::vector< pinocchio::FrameIndex >(), const std::vector< pinocchio::SE3 > &swingFootTask=std::vector< pinocchio::SE3 >())
 
boost::shared_ptr< crocoddyl::ShootingProblemcreateWalkingProblem (const Eigen::VectorXd &x0, const double stepLength, const double stepHeight, const double timeStep, const std::size_t stepKnots, const std::size_t supportKnots)
 
const Eigen::VectorXd & get_defaultState () const
 

Protected Attributes

boost::shared_ptr< ActuationModelFloatingBaseactuation_
 
Eigen::VectorXd defaultstate_
 
bool firtstep_
 
pinocchio::FrameIndex lf_foot_id_
 
pinocchio::FrameIndex lh_foot_id_
 
pinocchio::Data rdata_
 
pinocchio::FrameIndex rf_foot_id_
 
pinocchio::FrameIndex rh_foot_id_
 
pinocchio::Model rmodel_
 
boost::shared_ptr< StateMultibodystate_
 

Detailed Description

Definition at line 37 of file quadruped-gaits.hpp.


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