6 #ifndef BEZIER_COM_TRAJ_c0_dc0_ddc0_c1_H 7 #define BEZIER_COM_TRAJ_c0_dc0_ddc0_c1_H 12 namespace c0_dc0_ddc0_c1 {
30 wp.first = -4.0 * t4 + 4.0 * t3;
31 wp.second = 1.0 * pi[0] * t4 - 4.0 * pi[0] * t3 + 6.0 * pi[0] * t2 - 4.0 * pi[0] * t + 1.0 * pi[0] -
32 4.0 * pi[1] * t4 + 12.0 * pi[1] * t3 - 12.0 * pi[1] * t2 + 4.0 * pi[1] * t + 6.0 * pi[2] * t4 -
33 12.0 * pi[2] * t3 + 6.0 * pi[2] * t2 + 1.0 * pi[4] * t4;
39 double alpha = 1. / (T * T);
42 wp.first = (-48.0 * t2 + 24.0 * t) * alpha;
43 wp.second = (12.0 * pi[0] * t2 - 24.0 * pi[0] * t + 12.0 * pi[0] - 48.0 * pi[1] * t2 + 72.0 * pi[1] * t -
44 24.0 * pi[1] + 72.0 * pi[2] * t2 - 72.0 * pi[2] * t + 12.0 * pi[2] + 12.0 * pi[4] * t2) *
54 std::vector<point_t> pi;
55 pi.push_back(pData.
c0_);
56 pi.push_back((pData.
dc0_ * T / n) + pData.
c0_);
57 pi.push_back((pData.
ddc0_ * T * T / (n * (n - 1))) + (2. * pData.
dc0_ * T / n) + pData.
c0_);
58 pi.push_back(point_t::Zero());
59 pi.push_back(pData.
c1_);
64 bezier_wp_t::t_point_t wps;
66 const int DIM_VAR = 3;
68 std::vector<Matrix3> Cpi;
69 for (std::size_t i = 0; i < pi.size(); ++i) {
70 Cpi.push_back(
skew(pi[i]));
74 const double T2 = T * T;
75 const double alpha = 1 / (T2);
79 w0.
second.head<3>() = (12 * pi[0] - 24 * pi[1] + 12 * pi[2]) * alpha;
80 w0.
second.tail<3>() = 1.0 * (1.0 * Cg * T2 * pi[0] - 24.0 * Cpi[0] * pi[1] + 12.0 * Cpi[0] * pi[2]) * alpha;
83 w1.
first.block<3, 3>(0, 0) = 4.8 * alpha * Matrix3::Identity();
84 w1.
first.block<3, 3>(3, 0) = 4.8 * Cpi[0] * alpha;
85 w1.
second.head<3>() = 1.0 * (7.2 * pi[0] - 9.6 * pi[1] - 2.4 * pi[2]) * alpha;
87 1.0 * (0.2 * Cg * T2 * pi[0] + 0.8 * Cg * T2 * pi[1] - 12.0 * Cpi[0] * pi[2] + 9.6 * Cpi[1] * pi[2]) * alpha;
90 w2.
first.block<3, 3>(0, 0) = 4.8 * alpha * Matrix3::Identity();
91 w2.
first.block<3, 3>(3, 0) = 1.0 * (-4.8 * Cpi[0] + 9.6 * Cpi[1]) * alpha;
92 w2.
second.head<3>() = 1.0 * (3.6 * pi[0] - 9.6 * pi[2] + 1.2 * pi[4]) * alpha;
94 1.0 * (0.4 * Cg * T2 * pi[1] + 0.6 * Cg * T2 * pi[2] + 1.2 * Cpi[0] * pi[4] - 9.6 * Cpi[1] * pi[2]) * alpha;
97 w3.
first.block<3, 3>(3, 0) = 1.0 * (0.4 * Cg * T2 - 9.6 * Cpi[1] + 9.6 * Cpi[2]) * alpha;
98 w3.
second.head<3>() = 1.0 * (1.2 * pi[0] + 4.8 * pi[1] - 9.6 * pi[2] + 3.6 * pi[4]) * alpha;
99 w3.
second.tail<3>() = 1.0 * (0.6 * Cg * T2 * pi[2] - 1.2 * Cpi[0] * pi[4] + 4.8 * Cpi[1] * pi[4]) * alpha;
102 w4.
first.block<3, 3>(0, 0) = -9.6 * alpha * Matrix3::Identity();
103 w4.
first.block<3, 3>(3, 0) = 1.0 * (0.8 * Cg * T2 - 9.6 * Cpi[2]) * alpha;
104 w4.
second.head<3>() = 1.0 * (4.8 * pi[1] - 2.4 * pi[2] + 7.2 * pi[4]) * alpha;
105 w4.
second.tail<3>() = 1.0 * (0.2 * Cg * T2 * pi[4] - 4.8 * Cpi[1] * pi[4] + 12.0 * Cpi[2] * pi[4]) * alpha;
108 w5.
first.block<3, 3>(0, 0) = -24 * alpha * Matrix3::Identity();
109 w5.
first.block<3, 3>(3, 0) = 1.0 * (-24.0 * Cpi[4]) * alpha;
110 w5.
second.head<3>() = (12 * pi[2] + 12 * pi[4]) * alpha;
111 w5.
second.tail<3>() = 1.0 * (1.0 * Cg * T2 * pi[4] - 12.0 * Cpi[2] * pi[4]) * alpha;
120 v.second = 4. * pData.
c1_ / T;
point_t ddc0_
Definition: data.hh:103
waypoint6_t w2(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha)
Definition: solve_0_step.cpp:32
centroidal_dynamics::Vector3 Vector3
Definition: definitions.hh:21
waypoint6_t w1(point_t_tC p0, point_t_tC p1, point_t_tC, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha)
Definition: solve_0_step.cpp:22
VectorX second
Definition: utils.hh:29
bezier_wp_t::t_point_t computeWwaypoints(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_ddc0_c1.hh:63
coefs_t computeFinalVelocityPoint(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_ddc0_c1.hh:116
waypoint6_t w3(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &, const double alpha)
Definition: solve_0_step.cpp:42
INIT_VEL
Definition: flags.hh:21
waypoint6_t w4(point_t_tC, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &, const double alpha)
Definition: solve_0_step.cpp:52
coefs_t evaluateCurveAtTime(const std::vector< point_t > &pi, double t)
EQUATION FOR CONSTRAINts on initial position, velocity and acceleration, and only final position (deg...
Definition: waypoints_c0_dc0_ddc0_c1.hh:24
point_t c0_
Definition: data.hh:103
MatrixXX first
Definition: utils.hh:28
END_POS
Definition: flags.hh:23
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:61
INIT_ACC
Definition: flags.hh:22
point_t dc0_
Definition: data.hh:103
waypoint6_t w0(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &p0X, const Matrix3 &, const Matrix3 &, const double alpha)
Definition: solve_0_step.cpp:12
Eigen::Matrix< value_type, 3, 3 > Matrix3
Definition: definitions.hh:16
coefs_t evaluateAccelerationCurveAtTime(const std::vector< point_t > &pi, double T, double t)
Definition: waypoints_c0_dc0_ddc0_c1.hh:37
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition: data.hh:88
std::vector< point_t > computeConstantWaypoints(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_ddc0_c1.hh:49
Definition: common_solve_methods.hh:16
INIT_POS
Definition: flags.hh:20
BEZIER_COM_TRAJ_DLLAPI Matrix3 skew(point_t_tC x)
skew symmetric matrix
Definition: utils.cpp:56
std::vector< ContactData > contacts_
Definition: data.hh:102
point_t c1_
Definition: data.hh:103
const int DIM_POINT
Definition: solve_end_effector.hh:15