quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar > Class Template Reference

#include <quadruped-walkgen/quadruped_augmented_time.hpp>

Inheritance diagram for quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >:
Collaboration diagram for quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >:

Public Types

typedef _Scalar Scalar
 
typedef crocoddyl::ActionDataAbstractTpl< ScalarActionDataAbstract
 
typedef crocoddyl::ActionModelAbstractTpl< ScalarBase
 
typedef crocoddyl::MathBaseTpl< ScalarMathBase
 

Public Member Functions

 ActionModelQuadrupedAugmentedTimeTpl ()
 
 ~ActionModelQuadrupedAugmentedTimeTpl ()
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const typename MathBase::VectorXs > &x, const Eigen::Ref< const typename MathBase::VectorXs > &u)
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const typename MathBase::VectorXs > &x, const Eigen::Ref< const typename MathBase::VectorXs > &u)
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 
const Eigen::Matrix< Scalar, 12, 1 > & get_force_weights () const
 
void set_force_weights (const typename MathBase::VectorXs &weights)
 
const Eigen::Matrix< Scalar, 12, 1 > & get_state_weights () const
 
void set_state_weights (const typename MathBase::VectorXs &weights)
 
const Eigen::Matrix< Scalar, 8, 1 > & get_heuristic_weights () const
 
void set_heuristic_weights (const typename MathBase::VectorXs &weights)
 
const Eigen::Matrix< Scalar, 8, 1 > & get_stop_weights () const
 
void set_stop_weights (const typename MathBase::VectorXs &weights)
 
const Scalarget_friction_weight () const
 
void set_friction_weight (const Scalar &weight)
 
const Scalarget_mu () const
 
void set_mu (const Scalar &mu_coeff)
 
const Scalarget_mass () const
 
void set_mass (const Scalar &m)
 
const Scalarget_dt_ref () const
 
void set_dt_ref (const Scalar &dt)
 
const Scalarget_dt_min () const
 
void set_dt_min (const Scalar &dt)
 
const Scalarget_dt_max () const
 
void set_dt_max (const Scalar &dt)
 
const Eigen::Matrix< Scalar, 3, 3 > & get_gI () const
 
void set_gI (const typename MathBase::Matrix3s &inertia_matrix)
 
const Scalarget_min_fz_contact () const
 
void set_min_fz_contact (const Scalar &min_fz)
 
const Scalarget_max_fz_contact () const
 
void set_max_fz_contact (const Scalar &max_fz_)
 
const Eigen::Matrix< Scalar, 8, 1 > & get_shoulder_position () const
 
void set_shoulder_position (const typename MathBase::VectorXs &weights)
 
const bool & get_symmetry_term () const
 
void set_symmetry_term (const bool &sym_term)
 
const bool & get_centrifugal_term () const
 
void set_centrifugal_term (const bool &cent_term)
 
const Scalarget_T_gait () const
 
void set_T_gait (const Scalar &T_gait_)
 
const Scalarget_dt_weight () const
 
void set_dt_weight (const Scalar &weight_)
 
const Scalarget_dt_bound_weight () const
 
void set_dt_bound_weight (const Scalar &weight_)
 
const bool & get_relative_forces () const
 
void set_relative_forces (const bool &rel_forces)
 
const Scalarget_shoulder_hlim () const
 
void set_shoulder_hlim (const Scalar &hlim)
 
const Scalarget_shoulder_contact_weight () const
 
void set_shoulder_contact_weight (const Scalar &weight)
 
void update_model (const Eigen::Ref< const typename MathBase::MatrixXs > &l_feet, const Eigen::Ref< const typename MathBase::MatrixXs > &l_stop, const Eigen::Ref< const typename MathBase::MatrixXs > &xref, const Eigen::Ref< const typename MathBase::MatrixXs > &S)
 
const Eigen::Matrix< Scalar, 12, 12 > & get_A () const
 
const Eigen::Matrix< Scalar, 12, 12 > & get_B () const
 
const Eigen::Matrix< Scalar, 7, 1 > & get_cost () const
 

Member Typedef Documentation

◆ ActionDataAbstract

template<typename _Scalar >
typedef crocoddyl::ActionDataAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::ActionDataAbstract

◆ Base

template<typename _Scalar >
typedef crocoddyl::ActionModelAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::Base

◆ MathBase

template<typename _Scalar >
typedef crocoddyl::MathBaseTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::MathBase

◆ Scalar

template<typename _Scalar >
typedef _Scalar quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::Scalar

Constructor & Destructor Documentation

◆ ActionModelQuadrupedAugmentedTimeTpl()

◆ ~ActionModelQuadrupedAugmentedTimeTpl()

Member Function Documentation

◆ calc()

template<typename _Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::calc ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const typename MathBase::VectorXs > &  x,
const Eigen::Ref< const typename MathBase::VectorXs > &  u 
)
virtual

◆ calcDiff()

template<typename _Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::calcDiff ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const typename MathBase::VectorXs > &  x,
const Eigen::Ref< const typename MathBase::VectorXs > &  u 
)
virtual

◆ createData()

template<typename Scalar >
boost::shared_ptr< crocoddyl::ActionDataAbstractTpl< Scalar > > quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::createData
virtual

◆ get_A()

template<typename Scalar >
const Eigen::Matrix< Scalar, 12, 12 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_A

◆ get_B()

template<typename Scalar >
const Eigen::Matrix< Scalar, 12, 12 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_B

◆ get_centrifugal_term()

template<typename Scalar >
const bool & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_centrifugal_term

◆ get_cost()

template<typename Scalar >
const Eigen::Matrix< Scalar, 7, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_cost

◆ get_dt_bound_weight()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_dt_bound_weight

◆ get_dt_max()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_dt_max

◆ get_dt_min()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_dt_min

◆ get_dt_ref()

template<typename _Scalar >
const Scalar& quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::get_dt_ref ( ) const

◆ get_dt_weight()

template<typename _Scalar >
const Scalar& quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::get_dt_weight ( ) const

◆ get_force_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_force_weights

◆ get_friction_weight()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_friction_weight

◆ get_gI()

template<typename Scalar >
const Eigen::Matrix< Scalar, 3, 3 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_gI

◆ get_heuristic_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_heuristic_weights

◆ get_mass()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_mass

◆ get_max_fz_contact()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_max_fz_contact

◆ get_min_fz_contact()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_min_fz_contact

◆ get_mu()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_mu

◆ get_relative_forces()

template<typename Scalar >
const bool & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_relative_forces

◆ get_shoulder_contact_weight()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_shoulder_contact_weight

◆ get_shoulder_hlim()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_shoulder_hlim

◆ get_shoulder_position()

template<typename Scalar >
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_shoulder_position

◆ get_state_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_state_weights

◆ get_stop_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_stop_weights

◆ get_symmetry_term()

template<typename Scalar >
const bool & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_symmetry_term

◆ get_T_gait()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_T_gait

◆ set_centrifugal_term()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_centrifugal_term ( const bool &  cent_term)

◆ set_dt_bound_weight()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_dt_bound_weight ( const Scalar weight_)

◆ set_dt_max()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_dt_max ( const Scalar dt)

◆ set_dt_min()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_dt_min ( const Scalar dt)

◆ set_dt_ref()

template<typename _Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::set_dt_ref ( const Scalar dt)

◆ set_dt_weight()

template<typename _Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::set_dt_weight ( const Scalar weight_)

◆ set_force_weights()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_force_weights ( const typename MathBase::VectorXs &  weights)

◆ set_friction_weight()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_friction_weight ( const Scalar weight)

◆ set_gI()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_gI ( const typename MathBase::Matrix3s &  inertia_matrix)

◆ set_heuristic_weights()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_heuristic_weights ( const typename MathBase::VectorXs &  weights)

◆ set_mass()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_mass ( const Scalar m)

◆ set_max_fz_contact()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_max_fz_contact ( const Scalar max_fz_)

◆ set_min_fz_contact()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_min_fz_contact ( const Scalar min_fz)

◆ set_mu()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_mu ( const Scalar mu_coeff)

◆ set_relative_forces()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_relative_forces ( const bool &  rel_forces)

◆ set_shoulder_contact_weight()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_shoulder_contact_weight ( const Scalar weight)

◆ set_shoulder_hlim()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_shoulder_hlim ( const Scalar hlim)

◆ set_shoulder_position()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_shoulder_position ( const typename MathBase::VectorXs &  weights)

◆ set_state_weights()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_state_weights ( const typename MathBase::VectorXs &  weights)

◆ set_stop_weights()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_stop_weights ( const typename MathBase::VectorXs &  weights)

◆ set_symmetry_term()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_symmetry_term ( const bool &  sym_term)

◆ set_T_gait()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_T_gait ( const Scalar T_gait_)

◆ update_model()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::update_model ( const Eigen::Ref< const typename MathBase::MatrixXs > &  l_feet,
const Eigen::Ref< const typename MathBase::MatrixXs > &  l_stop,
const Eigen::Ref< const typename MathBase::MatrixXs > &  xref,
const Eigen::Ref< const typename MathBase::MatrixXs > &  S 
)

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