#include <quadruped-walkgen/quadruped_time.hpp>
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| ActionModelQuadrupedTimeTpl () |
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| ~ActionModelQuadrupedTimeTpl () |
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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_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) |
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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 Scalar & | get_dt_ref () const |
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void | set_dt_ref (const Scalar &dt) |
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const Scalar & | get_dt_min () const |
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void | set_dt_min (const Scalar &dt) |
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const Scalar & | get_dt_max () const |
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void | set_dt_max (const Scalar &dt) |
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const Scalar & | get_dt_weight_cmd () const |
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void | set_dt_weight_cmd (const Scalar &weight_) |
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const Scalar & | get_dt_bound_weight_cmd () const |
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void | set_dt_bound_weight_cmd (const Scalar &weight_) |
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const Eigen::Matrix< Scalar, 7, 1 > & | get_cost () const |
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◆ ActionDataAbstract
◆ Base
◆ MathBase
◆ Scalar
◆ ActionModelQuadrupedTimeTpl()
◆ ~ActionModelQuadrupedTimeTpl()
◆ calc()
◆ calcDiff()
◆ createData()
◆ get_centrifugal_term()
◆ get_cost()
◆ get_dt_bound_weight_cmd()
◆ get_dt_max()
◆ get_dt_min()
◆ get_dt_ref()
◆ get_dt_weight_cmd()
◆ get_heuristic_weights()
◆ get_state_weights()
◆ get_symmetry_term()
◆ get_T_gait()
◆ set_centrifugal_term()
◆ set_dt_bound_weight_cmd()
◆ set_dt_max()
◆ set_dt_min()
◆ set_dt_ref()
◆ set_dt_weight_cmd()
◆ set_heuristic_weights()
◆ set_state_weights()
◆ set_symmetry_term()
◆ set_T_gait()
◆ update_model()
The documentation for this class was generated from the following files: