#include <quadruped-walkgen/quadruped_augmented_time.hpp>
Public Types | |
typedef _Scalar | Scalar |
typedef crocoddyl::ActionDataAbstractTpl< Scalar > | ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl< Scalar > | Base |
typedef crocoddyl::MathBaseTpl< Scalar > | MathBase |
typedef crocoddyl::ActionDataAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::Base |
typedef crocoddyl::MathBaseTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::MathBase |
quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::ActionModelQuadrupedAugmentedTimeTpl | ( | ) |
quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::~ActionModelQuadrupedAugmentedTimeTpl | ( | ) |
|
virtual |
|
virtual |
|
virtual |
const Eigen::Matrix< Scalar, 12, 12 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_A | ( | ) | const |
const Eigen::Matrix< Scalar, 12, 12 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_B | ( | ) | const |
const bool & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_centrifugal_term | ( | ) | const |
const Eigen::Matrix< Scalar, 7, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_cost | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_dt_bound_weight | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_dt_max | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_dt_min | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::get_dt_ref | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::get_dt_weight | ( | ) | const |
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_force_weights | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_friction_weight | ( | ) | const |
const Eigen::Matrix< Scalar, 3, 3 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_gI | ( | ) | const |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_heuristic_weights | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_mass | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_max_fz_contact | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_min_fz_contact | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_mu | ( | ) | const |
const bool & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_relative_forces | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_shoulder_contact_weight | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_shoulder_hlim | ( | ) | const |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_shoulder_position | ( | ) | const |
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_state_weights | ( | ) | const |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_stop_weights | ( | ) | const |
const bool & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_symmetry_term | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::get_T_gait | ( | ) | const |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_centrifugal_term | ( | const bool & | cent_term | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_dt_bound_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_dt_max | ( | const Scalar & | dt | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_dt_min | ( | const Scalar & | dt | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::set_dt_ref | ( | const Scalar & | dt | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< _Scalar >::set_dt_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_force_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_friction_weight | ( | const Scalar & | weight | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_gI | ( | const typename MathBase::Matrix3s & | inertia_matrix | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_heuristic_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_mass | ( | const Scalar & | m | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_max_fz_contact | ( | const Scalar & | max_fz_ | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_min_fz_contact | ( | const Scalar & | min_fz | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_mu | ( | const Scalar & | mu_coeff | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_relative_forces | ( | const bool & | rel_forces | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_shoulder_contact_weight | ( | const Scalar & | weight | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_shoulder_hlim | ( | const Scalar & | hlim | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_shoulder_position | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_state_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_stop_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_symmetry_term | ( | const bool & | sym_term | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::set_T_gait | ( | const Scalar & | T_gait_ | ) |
void quadruped_walkgen::ActionModelQuadrupedAugmentedTimeTpl< Scalar >::update_model | ( | const Eigen::Ref< const typename MathBase::MatrixXs > & | l_feet, |
const Eigen::Ref< const typename MathBase::MatrixXs > & | l_stop, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | xref, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | S ) |