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| ActionModelQuadrupedStepTimeTpl () |
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| ~ActionModelQuadrupedStepTimeTpl () |
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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, 4, 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 > &velocity, const Eigen::Ref< const typename MathBase::MatrixXs > &acceleration, 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_nb_nodes () const |
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void | set_nb_nodes (const Scalar &nodes_) |
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const Scalar & | get_vlim () const |
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void | set_vlim (const Scalar &vlim_) |
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const Scalar & | get_speed_weight () const |
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void | set_speed_weight (const Scalar &weight_) |
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const bool & | get_first_step () const |
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void | set_first_step (const bool &first) |
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const Eigen::Matrix< Scalar, 7, 1 > & | get_cost () const |
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