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| ActionModelQuadrupedStepTpl () |
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| ~ActionModelQuadrupedStepTpl () |
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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) |
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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) |
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virtual boost::shared_ptr< ActionDataAbstract > | createData () |
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const Eigen::Matrix< Scalar, 12, 1 > & | get_state_weights () const |
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void | set_state_weights (const typename MathBase::VectorXs &weights) |
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const Eigen::Matrix< Scalar, 8, 1 > & | get_step_weights () const |
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void | set_step_weights (const typename MathBase::VectorXs &weights) |
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const Eigen::Matrix< Scalar, 8, 1 > & | get_heuristic_weights () const |
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void | set_heuristic_weights (const typename MathBase::VectorXs &weights) |
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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) |
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const bool & | get_symmetry_term () const |
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void | set_symmetry_term (const bool &sym_term) |
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const bool & | get_centrifugal_term () const |
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void | set_centrifugal_term (const bool ¢_term) |
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const Scalar & | get_T_gait () const |
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void | set_T_gait (const Scalar &T_gait_) |
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const bool & | get_acc_activated () const |
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void | set_acc_activated (const bool &is_activated) |
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const Eigen::Matrix< Scalar, 2, 1 > & | get_acc_lim () const |
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void | set_acc_lim (const typename MathBase::VectorXs &acceleration_lim_) |
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const Scalar & | get_acc_weight () const |
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void | set_acc_weight (const Scalar &weight_) |
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const bool & | get_vel_activated () const |
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void | set_vel_activated (const bool &is_activated) |
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const Eigen::Matrix< Scalar, 2, 1 > & | get_vel_lim () const |
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void | set_vel_lim (const typename MathBase::VectorXs &velocity_lim_) |
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const Scalar & | get_vel_weight () const |
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void | set_vel_weight (const Scalar &weight_) |
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void | set_sample_feet_traj (const int &n_sample) |
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const bool & | get_jerk_activated () const |
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void | set_jerk_activated (const bool &is_activated) |
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const Scalar & | get_jerk_weight () const |
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void | set_jerk_weight (const Scalar &weight_) |
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