quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< _Scalar > Class Template Reference

#include <quadruped-walkgen/quadruped_step_period.hpp>

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

Public Types

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

Public Member Functions

 ActionModelQuadrupedStepPeriodTpl ()
 
 ~ActionModelQuadrupedStepPeriodTpl ()
 
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, 4, 1 > & get_step_weights () const
 
void set_step_weights (const typename MathBase::VectorXs &weights)
 
const Eigen::Matrix< Scalar, 8, 1 > & get_shoulder_weights () const
 
void set_shoulder_weights (const typename MathBase::VectorXs &weights)
 
const Eigen::Matrix< Scalar, 8, 1 > & get_shoulder_position () const
 
void set_shoulder_position (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::MatrixXs > &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 &cent_term)
 
const Scalarget_T_gait () const
 
void set_T_gait (const Scalar &T_gait_)
 
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 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 Scalarget_nb_nodes () const
 
void set_nb_nodes (const Scalar &nodes_)
 
const Scalarget_vlim () const
 
void set_vlim (const Scalar &vlim_)
 
const Scalarget_speed_weight () const
 
void set_speed_weight (const Scalar &weight_)
 

Member Typedef Documentation

◆ ActionDataAbstract

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

◆ Base

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

◆ MathBase

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

◆ Scalar

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

Constructor & Destructor Documentation

◆ ActionModelQuadrupedStepPeriodTpl()

◆ ~ActionModelQuadrupedStepPeriodTpl()

Member Function Documentation

◆ calc()

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

◆ get_centrifugal_term()

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

◆ get_dt_bound_weight()

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

◆ get_dt_max()

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

◆ get_dt_min()

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

◆ get_dt_ref()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_ref

◆ get_dt_weight()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_weight

◆ get_nb_nodes()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_nb_nodes

◆ get_shoulder_position()

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

◆ get_shoulder_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_shoulder_weights

◆ get_speed_weight()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_speed_weight

◆ get_state_weights()

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

◆ get_step_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 4, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_step_weights

◆ get_symmetry_term()

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

◆ get_T_gait()

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

◆ get_vlim()

template<typename Scalar >
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_vlim

◆ set_centrifugal_term()

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

◆ set_dt_bound_weight()

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

◆ set_dt_max()

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

◆ set_dt_min()

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

◆ set_dt_ref()

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

◆ set_dt_weight()

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

◆ set_nb_nodes()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_nb_nodes ( const Scalar nodes_)

◆ set_shoulder_position()

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

◆ set_shoulder_weights()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_shoulder_weights ( const typename MathBase::VectorXs &  weights)

◆ set_speed_weight()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_speed_weight ( const Scalar weight_)

◆ set_state_weights()

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

◆ set_step_weights()

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

◆ set_symmetry_term()

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

◆ set_T_gait()

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

◆ set_vlim()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_vlim ( const Scalar vlim_)

◆ update_model()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< 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::MatrixXs > &  S 
)

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