4 #include <pinocchio/fwd.hpp> 19 unsigned long T = 100;
47 std::vector<unsigned long> contacts_sequence_;
49 unsigned long TswitchPhase_;
50 unsigned long TswitchTraj_;
51 bool swingRightPhase_;
55 pinocchio::SE3 starting_position_left_;
56 pinocchio::SE3 starting_position_right_;
57 pinocchio::SE3 final_position_left_;
58 pinocchio::SE3 final_position_right_;
64 const Eigen::VectorXd &v0);
69 const Eigen::VectorXd &q0,
const Eigen::VectorXd &v0);
72 void updateOCP(
const Eigen::VectorXd &qc,
const Eigen::VectorXd &vc);
unsigned long Tstep
Definition: ocp.hpp:22
unsigned long TsimpleSupport
Definition: ocp.hpp:21
double stepDepth
Definition: ocp.hpp:31
void updateEndPhase()
Definition: ocp.cpp:109
Definition: horizon_manager.hpp:19
Definition: model_factory.hpp:17
Eigen::Vector3d eVector3
Definition: fwd.hpp:107
unsigned long ddpIteration
Definition: ocp.hpp:23
double simu_step
Definition: ocp.hpp:26
Definition: designer.hpp:28
Eigen::Matrix< double, 6, 1 > eVector6
Definition: fwd.hpp:105
void updateOCP(const Eigen::VectorXd &qc, const Eigen::VectorXd &vc)
Definition: ocp.cpp:154
unsigned long TdoubleSupport
Definition: ocp.hpp:20
double Dt
Definition: ocp.hpp:25
double stepHeight
Definition: ocp.hpp:30
unsigned long totalSteps
Definition: ocp.hpp:18
double stepSize
Definition: ocp.hpp:29
const Eigen::Vector3d & get_RF_position()
Definition: designer.hpp:84
Definition: activation-quad-ref.hpp:19
OCP()
Definition: ocp.cpp:5
unsigned long Nc
Definition: ocp.hpp:28
Definition: model_factory.hpp:55
std::shared_ptr< FootTrajectory > FootTrajectory_ptr
Definition: foot_trajectory.hpp:229
Definition: designer.hpp:17
void initialize(const OCPSettings &settings, const ModelMakerSettings &model_settings, const RobotDesignerSettings &design, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0)
Definition: ocp.cpp:13
eVector3 get_RF_position()
Definition: ocp.hpp:76
const Eigen::Vector3d & get_com_position()
Definition: designer.hpp:85
double stepYCorrection
Definition: ocp.hpp:32
HorizonManager get_horizon()
Definition: ocp.hpp:73
eVector3 get_com_position()
Definition: ocp.hpp:77
eVector3 get_LF_position()
Definition: ocp.hpp:75
const Eigen::Vector3d & get_LF_position()
Definition: designer.hpp:83
unsigned long T
Definition: ocp.hpp:19