#include <quadruped-walkgen/quadruped_step_period.hpp>


Public Types | |
| typedef _Scalar | Scalar |
| typedef crocoddyl::ActionDataAbstractTpl< Scalar > | ActionDataAbstract |
| typedef crocoddyl::ActionModelAbstractTpl< Scalar > | Base |
| typedef crocoddyl::MathBaseTpl< Scalar > | MathBase |
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< 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_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 ¢_term) |
| const Scalar & | get_T_gait () const |
| void | set_T_gait (const Scalar &T_gait_) |
| const Scalar & | get_dt_ref () const |
| void | set_dt_ref (const Scalar &dt) |
| const Scalar & | get_dt_min () const |
| void | set_dt_min (const Scalar &dt) |
| const Scalar & | get_dt_max () const |
| void | set_dt_max (const Scalar &dt) |
| const Scalar & | get_dt_weight () const |
| void | set_dt_weight (const Scalar &weight_) |
| const Scalar & | get_dt_bound_weight () const |
| void | set_dt_bound_weight (const Scalar &weight_) |
| 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_) |
| typedef crocoddyl::ActionDataAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< _Scalar >::ActionDataAbstract |
| typedef crocoddyl::ActionModelAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< _Scalar >::Base |
| typedef crocoddyl::MathBaseTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< _Scalar >::MathBase |
| typedef _Scalar quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< _Scalar >::Scalar |
| quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::ActionModelQuadrupedStepPeriodTpl | ( | ) |
| quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::~ActionModelQuadrupedStepPeriodTpl | ( | ) |
|
virtual |
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virtual |
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virtual |
| const bool & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_centrifugal_term | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_bound_weight | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_max | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_min | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_ref | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_weight | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_nb_nodes | ( | ) | const |
| const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_shoulder_position | ( | ) | const |
| const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_shoulder_weights | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_speed_weight | ( | ) | const |
| const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_state_weights | ( | ) | const |
| const Eigen::Matrix< Scalar, 4, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_step_weights | ( | ) | const |
| const bool & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_symmetry_term | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_T_gait | ( | ) | const |
| const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_vlim | ( | ) | const |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_centrifugal_term | ( | const bool & | cent_term | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_bound_weight | ( | const Scalar & | weight_ | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_max | ( | const Scalar & | dt | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_min | ( | const Scalar & | dt | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_ref | ( | const Scalar & | dt | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_weight | ( | const Scalar & | weight_ | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_nb_nodes | ( | const Scalar & | nodes_ | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_shoulder_position | ( | const typename MathBase::VectorXs & | weights | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_shoulder_weights | ( | const typename MathBase::VectorXs & | weights | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_speed_weight | ( | const Scalar & | weight_ | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_state_weights | ( | const typename MathBase::VectorXs & | weights | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_step_weights | ( | const typename MathBase::VectorXs & | weights | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_symmetry_term | ( | const bool & | sym_term | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_T_gait | ( | const Scalar & | T_gait_ | ) |
| void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_vlim | ( | const Scalar & | vlim_ | ) |
| 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 | ||
| ) |