#include <quadruped-walkgen/quadruped_step_period.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::ActionModelQuadrupedStepPeriodTpl< _Scalar >::ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< _Scalar >::Base |
typedef crocoddyl::MathBaseTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< _Scalar >::MathBase |
quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::ActionModelQuadrupedStepPeriodTpl | ( | ) |
quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::~ActionModelQuadrupedStepPeriodTpl | ( | ) |
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const bool & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_centrifugal_term | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_bound_weight | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_max | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_min | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_ref | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_weight | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_nb_nodes | ( | ) | const |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_shoulder_position | ( | ) | const |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_shoulder_weights | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_speed_weight | ( | ) | const |
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_state_weights | ( | ) | const |
const Eigen::Matrix< Scalar, 4, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_step_weights | ( | ) | const |
const bool & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_symmetry_term | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_T_gait | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_vlim | ( | ) | const |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_centrifugal_term | ( | const bool & | cent_term | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_bound_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_max | ( | const Scalar & | dt | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_min | ( | const Scalar & | dt | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_ref | ( | const Scalar & | dt | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_dt_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_nb_nodes | ( | const Scalar & | nodes_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_shoulder_position | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_shoulder_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_speed_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_state_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_step_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_symmetry_term | ( | const bool & | sym_term | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_T_gait | ( | const Scalar & | T_gait_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::set_vlim | ( | const Scalar & | vlim_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::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::MatrixXs > & | S ) |