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quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar > Class Template Reference

#include <quadruped-walkgen/quadruped_nl.hpp>

Inheritance diagram for quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >:
Collaboration diagram for quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >:

Public Types

typedef _Scalar Scalar
 
typedef crocoddyl::ActionDataAbstractTpl< ScalarActionDataAbstract
 
typedef crocoddyl::ActionModelAbstractTpl< ScalarBase
 
typedef crocoddyl::MathBaseTpl< ScalarMathBase
 

Public Member Functions

 ActionModelQuadrupedNonLinearTpl (typename Eigen::Matrix< Scalar, 3, 1 > offset_CoM=Eigen::Matrix< Scalar, 3, 1 >::Zero())
 
 ~ActionModelQuadrupedNonLinearTpl ()
 
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)
 
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)
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 
const Eigen::Matrix< Scalar, 12, 1 > & get_force_weights () const
 
void set_force_weights (const typename MathBase::VectorXs &weights)
 
const Eigen::Matrix< Scalar, 12, 1 > & get_state_weights () const
 
void set_state_weights (const typename MathBase::VectorXs &weights)
 
const Scalarget_friction_weight () const
 
void set_friction_weight (const Scalar &weight)
 
const Scalarget_mu () const
 
void set_mu (const Scalar &mu_coeff)
 
const Scalarget_mass () const
 
void set_mass (const Scalar &m)
 
const Scalarget_dt () const
 
void set_dt (const Scalar &dt)
 
const Eigen::Matrix< Scalar, 3, 3 > & get_gI () const
 
void set_gI (const typename MathBase::Matrix3s &inertia_matrix)
 
const Scalarget_min_fz_contact () const
 
void set_min_fz_contact (const Scalar &min_fz)
 
const Scalarget_max_fz_contact () const
 
void set_max_fz_contact (const Scalar &max_fz_)
 
const Scalarget_shoulder_hlim () const
 
void set_shoulder_hlim (const Scalar &hlim)
 
const Scalarget_shoulder_weight () const
 
void set_shoulder_weight (const Scalar &weight)
 
const boolget_relative_forces () const
 
void set_relative_forces (const bool &rel_forces)
 
const boolget_implicit_integration () const
 
void set_implicit_integration (const bool &implicit)
 
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::MatrixXs > &S)
 
const Eigen::Matrix< Scalar, 12, 12 > & get_A () const
 
const Eigen::Matrix< Scalar, 12, 12 > & get_B () const
 

Member Typedef Documentation

◆ ActionDataAbstract

template<typename _Scalar >
typedef crocoddyl::ActionDataAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::ActionDataAbstract

◆ Base

template<typename _Scalar >
typedef crocoddyl::ActionModelAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::Base

◆ MathBase

◆ Scalar

Constructor & Destructor Documentation

◆ ActionModelQuadrupedNonLinearTpl()

template<typename Scalar >
quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::ActionModelQuadrupedNonLinearTpl ( typename Eigen::Matrix< Scalar, 3, 1 > offset_CoM = Eigen::Matrix<Scalar, 3, 1>::Zero())

◆ ~ActionModelQuadrupedNonLinearTpl()

Member Function Documentation

◆ calc()

template<typename _Scalar >
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::calc ( const boost::shared_ptr< ActionDataAbstract > & data,
const Eigen::Ref< const typename MathBase::VectorXs > & x,
const Eigen::Ref< const typename MathBase::VectorXs > & u )
virtual

◆ calcDiff()

template<typename _Scalar >
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::calcDiff ( const boost::shared_ptr< ActionDataAbstract > & data,
const Eigen::Ref< const typename MathBase::VectorXs > & x,
const Eigen::Ref< const typename MathBase::VectorXs > & u )
virtual

◆ createData()

template<typename Scalar >
boost::shared_ptr< crocoddyl::ActionDataAbstractTpl< Scalar > > quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::createData ( )
virtual

◆ get_A()

template<typename Scalar >
const Eigen::Matrix< Scalar, 12, 12 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_A ( ) const

◆ get_B()

template<typename Scalar >
const Eigen::Matrix< Scalar, 12, 12 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_B ( ) const

◆ get_dt()

◆ get_force_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_force_weights ( ) const

◆ get_friction_weight()

◆ get_gI()

template<typename Scalar >
const Eigen::Matrix< Scalar, 3, 3 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_gI ( ) const

◆ get_implicit_integration()

template<typename _Scalar >
const bool & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::get_implicit_integration ( ) const

◆ get_mass()

◆ get_max_fz_contact()

◆ get_min_fz_contact()

◆ get_mu()

◆ get_relative_forces()

template<typename Scalar >
const bool & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_relative_forces ( ) const

◆ get_shoulder_hlim()

◆ get_shoulder_weight()

◆ get_state_weights()

template<typename Scalar >
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_state_weights ( ) const

◆ set_dt()

◆ set_force_weights()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_force_weights ( const typename MathBase::VectorXs & weights)

◆ set_friction_weight()

◆ set_gI()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_gI ( const typename MathBase::Matrix3s & inertia_matrix)

◆ set_implicit_integration()

template<typename _Scalar >
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::set_implicit_integration ( const bool & implicit)

◆ set_mass()

◆ set_max_fz_contact()

◆ set_min_fz_contact()

◆ set_mu()

◆ set_relative_forces()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_relative_forces ( const bool & rel_forces)

◆ set_shoulder_hlim()

◆ set_shoulder_weight()

◆ set_state_weights()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_state_weights ( const typename MathBase::VectorXs & weights)

◆ update_model()

template<typename Scalar >
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< 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 )

The documentation for this class was generated from the following files: