quadruped_walkgen::ActionModelQuadrupedStepTpl< _Scalar > Class Template Reference

#include <quadruped-walkgen/quadruped_step.hpp>

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

Public Types

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

Public Member Functions

 ActionModelQuadrupedStepTpl ()
 
 ~ActionModelQuadrupedStepTpl ()
 
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_state_weights () const
 
void set_state_weights (const typename MathBase::VectorXs &weights)
 
const Eigen::Matrix< Scalar, 8, 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 > &xref, const Eigen::Ref< const typename MathBase::VectorXs > &S, const Eigen::Ref< const typename MathBase::MatrixXs > &position, const Eigen::Ref< const typename MathBase::MatrixXs > &velocity, const Eigen::Ref< const typename MathBase::MatrixXs > &acceleration, const Eigen::Ref< const typename MathBase::MatrixXs > &jerk, const Eigen::Ref< const typename MathBase::MatrixXs > &oRh, const Eigen::Ref< const typename MathBase::MatrixXs > &oTh, const Scalar &delta_T)
 
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 bool & get_acc_activated () const
 
void set_acc_activated (const bool &is_activated)
 
const Eigen::Matrix< Scalar, 2, 1 > & get_acc_lim () const
 
void set_acc_lim (const typename MathBase::VectorXs &acceleration_lim_)
 
const Scalarget_acc_weight () const
 
void set_acc_weight (const Scalar &weight_)
 
const bool & get_vel_activated () const
 
void set_vel_activated (const bool &is_activated)
 
const Eigen::Matrix< Scalar, 2, 1 > & get_vel_lim () const
 
void set_vel_lim (const typename MathBase::VectorXs &velocity_lim_)
 
const Scalarget_vel_weight () const
 
void set_vel_weight (const Scalar &weight_)
 
void set_sample_feet_traj (const int &n_sample)
 
const bool & get_jerk_activated () const
 
void set_jerk_activated (const bool &is_activated)
 
const Scalarget_jerk_weight () const
 
void set_jerk_weight (const Scalar &weight_)
 

Member Typedef Documentation

◆ ActionDataAbstract

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

◆ Base

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

◆ MathBase

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

◆ Scalar

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

Constructor & Destructor Documentation

◆ ActionModelQuadrupedStepTpl()

◆ ~ActionModelQuadrupedStepTpl()

Member Function Documentation

◆ calc()

template<typename _Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< 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::ActionModelQuadrupedStepTpl< 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::ActionModelQuadrupedStepTpl< Scalar >::createData
virtual

◆ get_acc_activated()

template<typename Scalar >
const bool & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_acc_activated

◆ get_acc_lim()

template<typename Scalar >
const Eigen::Matrix< Scalar, 2, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_acc_lim

◆ get_acc_weight()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_acc_weight

◆ get_centrifugal_term()

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

◆ get_heuristic_weights()

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

◆ get_jerk_activated()

template<typename Scalar >
const bool & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_jerk_activated

◆ get_jerk_weight()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_jerk_weight

◆ get_state_weights()

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

◆ get_step_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_step_weights

◆ get_symmetry_term()

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

◆ get_T_gait()

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

◆ get_vel_activated()

template<typename Scalar >
const bool & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_vel_activated

◆ get_vel_lim()

template<typename Scalar >
const Eigen::Matrix< Scalar, 2, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_vel_lim

◆ get_vel_weight()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_vel_weight

◆ set_acc_activated()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_acc_activated ( const bool &  is_activated)

◆ set_acc_lim()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_acc_lim ( const typename MathBase::VectorXs &  acceleration_lim_)

◆ set_acc_weight()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_acc_weight ( const Scalar weight_)

◆ set_centrifugal_term()

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

◆ set_heuristic_weights()

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

◆ set_jerk_activated()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_jerk_activated ( const bool &  is_activated)

◆ set_jerk_weight()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_jerk_weight ( const Scalar weight_)

◆ set_sample_feet_traj()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_sample_feet_traj ( const int &  n_sample)

◆ set_state_weights()

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

◆ set_step_weights()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_step_weights ( const typename MathBase::VectorXs &  weights)

◆ set_symmetry_term()

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

◆ set_T_gait()

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

◆ set_vel_activated()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_vel_activated ( const bool &  is_activated)

◆ set_vel_lim()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_vel_lim ( const typename MathBase::VectorXs &  velocity_lim_)

◆ set_vel_weight()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_vel_weight ( const Scalar weight_)

◆ update_model()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::update_model ( const Eigen::Ref< const typename MathBase::MatrixXs > &  l_feet,
const Eigen::Ref< const typename MathBase::MatrixXs > &  xref,
const Eigen::Ref< const typename MathBase::VectorXs > &  S,
const Eigen::Ref< const typename MathBase::MatrixXs > &  position,
const Eigen::Ref< const typename MathBase::MatrixXs > &  velocity,
const Eigen::Ref< const typename MathBase::MatrixXs > &  acceleration,
const Eigen::Ref< const typename MathBase::MatrixXs > &  jerk,
const Eigen::Ref< const typename MathBase::MatrixXs > &  oRh,
const Eigen::Ref< const typename MathBase::MatrixXs > &  oTh,
const Scalar delta_T 
)

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