1 #ifndef SOBEC_MODEL_FACTORY
2 #define SOBEC_MODEL_FACTORY
4 #include <pinocchio/fwd.hpp>
60 boost::shared_ptr<crocoddyl::StateMultibody> state_;
61 boost::shared_ptr<crocoddyl::ActuationModelFloatingBase> actuation_;
91 boost::shared_ptr<crocoddyl::StateMultibody>
getState() {
return state_; }
92 void setState(
const boost::shared_ptr<crocoddyl::StateMultibody> &new_state) {
95 boost::shared_ptr<crocoddyl::ActuationModelFloatingBase>
getActuation() {
99 const boost::shared_ptr<crocoddyl::ActuationModelFloatingBase>
101 actuation_ = new_actuation;
Definition: model_factory.hpp:55
boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > getActuation()
Definition: model_factory.hpp:95
void defineJointLimits(Cost &costCollector)
Definition: model_factory.cpp:178
ModelMaker()
Definition: model_factory.cpp:10
void defineFeetContact(Contact &contactCollector, const Support &support=Support::DOUBLE)
Definition: model_factory.cpp:33
AMA formulate_stair_climber(const Support &support=Support::DOUBLE)
boost::shared_ptr< crocoddyl::StateMultibody > getState()
Definition: model_factory.hpp:91
void defineCoMVelocity(Cost &costCollector)
Definition: model_factory.cpp:205
void defineCoPTask(Cost &costCollector, const Support &support=Support::DOUBLE)
Definition: model_factory.cpp:216
void defineActuationTask(Cost &costCollector)
Definition: model_factory.cpp:161
void setActuation(const boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > &new_actuation)
Definition: model_factory.hpp:98
ModelMakerSettings & get_settings()
Definition: model_factory.hpp:76
void defineFeetWrenchCost(Cost &costCollector, const Support &support=Support::DOUBLE)
Definition: model_factory.cpp:57
void defineFeetTracking(Cost &costCollector)
Definition: model_factory.cpp:114
void setState(const boost::shared_ptr< crocoddyl::StateMultibody > &new_state)
Definition: model_factory.hpp:92
std::vector< AMA > formulateHorizon(const std::vector< Support > &supports)
Definition: model_factory.cpp:272
void definePostureTask(Cost &costCollector)
Definition: model_factory.cpp:143
void initialize(const ModelMakerSettings &settings, const RobotDesigner &design)
Definition: model_factory.cpp:17
AMA formulateStepTracker(const Support &support=Support::DOUBLE)
Definition: model_factory.cpp:248
bool initialized_
Definition: model_factory.hpp:69
Definition: designer.hpp:28
Definition: activation-quad-ref.hpp:19
Eigen::Vector2d eVector2
Definition: fwd.hpp:108
boost::shared_ptr< crocoddyl::ContactModelMultiple > Contact
Definition: fwd.hpp:116
boost::shared_ptr< crocoddyl::CostModelSum > Cost
Definition: fwd.hpp:115
Support
Definition: model_factory.hpp:15
@ LEFT
Definition: model_factory.hpp:15
@ RIGHT
Definition: model_factory.hpp:15
@ DOUBLE
Definition: model_factory.hpp:15
boost::shared_ptr< crocoddyl::ActionModelAbstract > AMA
Definition: fwd.hpp:111
Eigen::Vector3d eVector3
Definition: fwd.hpp:107
Definition: model_factory.hpp:17
eVector3 gravity
Definition: model_factory.hpp:23
double wFootRot
Definition: model_factory.hpp:45
double wFootTrans
Definition: model_factory.hpp:43
double maxNforce
Definition: model_factory.hpp:31
double th_stop
Definition: model_factory.hpp:52
double wVCoM
Definition: model_factory.hpp:41
double wFootPlacement
Definition: model_factory.hpp:37
double comHeight
Definition: model_factory.hpp:33
double wCoP
Definition: model_factory.hpp:47
double wGroundCol
Definition: model_factory.hpp:46
double wFootXYTrans
Definition: model_factory.hpp:44
double omega
Definition: model_factory.hpp:34
double wControlReg
Definition: model_factory.hpp:39
Eigen::VectorXd controlWeights
Definition: model_factory.hpp:50
double mu
Definition: model_factory.hpp:28
double timeStep
Definition: model_factory.hpp:20
Eigen::VectorXd stateWeights
Definition: model_factory.hpp:49
double wStateReg
Definition: model_factory.hpp:38
double th_grad
Definition: model_factory.hpp:53
eVector2 coneBox
Definition: model_factory.hpp:29
double wWrenchCone
Definition: model_factory.hpp:42
double wLimit
Definition: model_factory.hpp:40
double footSize
Definition: model_factory.hpp:26
double minNforce
Definition: model_factory.hpp:30