#include <quadruped-walkgen/quadruped_step_time.hpp>
Public Types | |
typedef _Scalar | Scalar |
typedef crocoddyl::ActionDataAbstractTpl< Scalar > | ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl< Scalar > | Base |
typedef crocoddyl::MathBaseTpl< Scalar > | MathBase |
Public Member Functions | |
ActionModelQuadrupedStepTimeTpl () | |
~ActionModelQuadrupedStepTimeTpl () | |
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< ActionDataAbstract > | createData () |
const Eigen::Matrix< Scalar, 12, 1 > & | get_state_weights () const |
void | set_state_weights (const typename MathBase::VectorXs &weights) |
const Eigen::Matrix< Scalar, 4, 1 > & | get_step_weights () const |
void | set_step_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) |
void | update_model (const Eigen::Ref< const typename MathBase::MatrixXs > &l_feet, const Eigen::Ref< const typename MathBase::MatrixXs > &velocity, const Eigen::Ref< const typename MathBase::MatrixXs > &acceleration, const Eigen::Ref< const typename MathBase::MatrixXs > &xref, const Eigen::Ref< const typename MathBase::VectorXs > &S) |
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 ¢_term) |
const Scalar & | get_T_gait () const |
void | set_T_gait (const Scalar &T_gait_) |
const Scalar & | get_nb_nodes () const |
void | set_nb_nodes (const Scalar &nodes_) |
const Scalar & | get_vlim () const |
void | set_vlim (const Scalar &vlim_) |
const Scalar & | get_speed_weight () const |
void | set_speed_weight (const Scalar &weight_) |
const bool & | get_first_step () const |
void | set_first_step (const bool &first) |
const Eigen::Matrix< Scalar, 7, 1 > & | get_cost () const |
typedef crocoddyl::ActionDataAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< _Scalar >::ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< _Scalar >::Base |
typedef crocoddyl::MathBaseTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< _Scalar >::MathBase |
typedef _Scalar quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< _Scalar >::Scalar |
quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::ActionModelQuadrupedStepTimeTpl |
quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::~ActionModelQuadrupedStepTimeTpl |
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const bool & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_centrifugal_term |
const Eigen::Matrix< Scalar, 7, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_cost |
const bool & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_first_step |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_heuristic_weights |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_nb_nodes |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_speed_weight |
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_state_weights |
const Eigen::Matrix< Scalar, 4, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_step_weights |
const bool & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_symmetry_term |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_T_gait |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::get_vlim |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_centrifugal_term | ( | const bool & | cent_term | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_first_step | ( | const bool & | first | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_heuristic_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_nb_nodes | ( | const Scalar & | nodes_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_speed_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_state_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_step_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_symmetry_term | ( | const bool & | sym_term | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_T_gait | ( | const Scalar & | T_gait_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::set_vlim | ( | const Scalar & | vlim_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTimeTpl< Scalar >::update_model | ( | const Eigen::Ref< const typename MathBase::MatrixXs > & | l_feet, |
const Eigen::Ref< const typename MathBase::MatrixXs > & | velocity, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | acceleration, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | xref, | ||
const Eigen::Ref< const typename MathBase::VectorXs > & | S | ||
) |