#include <sobec/walk-with-traj/horizon_manager.hpp>
Public Member Functions | |
HorizonManager () | |
HorizonManager (const HorizonManagerSettings &horizonSettings, const Eigen::VectorXd &x0, const std::vector< AMA > &runningModels, const AMA &terminalModel) | |
void | initialize (const HorizonManagerSettings &horizonSettings, const Eigen::VectorXd &x0, const std::vector< AMA > &runningModels, const AMA &terminalModel) |
AMA | ama (const unsigned long time) |
IAM | iam (const unsigned long time) |
DAM | dam (const unsigned long time) |
ADA | ada (const unsigned long time) |
IAD | iad (const unsigned long time) |
Cost | costs (const unsigned long time) |
Contact | contacts (const unsigned long time) |
boost::shared_ptr< crocoddyl::StateMultibody > | state (const unsigned long time) |
boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > | actuation (const unsigned long time) |
void | setActuationReference (const unsigned long time, const std::string &nameCostActuation, const Eigen::VectorXd &reference) |
void | setBalancingTorque (const unsigned long time, const std::string &nameCostActuation, const Eigen::VectorXd &x) |
void | setBalancingTorque (const unsigned long time, const std::string &nameCostActuation, const std::string &nameCostState) |
void | setPoseReferenceLF (const unsigned long time, const std::string &nameCostLF, const pinocchio::SE3 &ref_placement) |
void | setPoseReferenceRF (const unsigned long time, const std::string &nameCostRF, const pinocchio::SE3 &ref_placement) |
const pinocchio::SE3 & | getFootPoseReference (const unsigned long time, const std::string &nameCostFootPose) |
void | setVelocityRefCOM (const unsigned long time, const std::string &nameCost, const eVector3 &ref_placement) |
void | activateContactLF (const unsigned long time, const std::string &nameContacttLF) |
void | activateContactRF (const unsigned long time, const std::string &nameContactRF) |
void | removeContactLF (const unsigned long time, const std::string &nameContactLF) |
void | removeContactRF (const unsigned long time, const std::string &nameContactRF) |
void | setForceReferenceLF (const unsigned long time, const std::string &nameCostLF, const eVector6 &reference) |
void | setForceReferenceRF (const unsigned long time, const std::string &nameCostRF, const eVector6 &reference) |
void | setSwingingLF (const unsigned long time, const std::string &nameContactLF, const std::string &nameContactRF, const std::string &nameForceContactLF) |
void | setSwingingRF (const unsigned long time, const std::string &nameContactLF, const std::string &nameContactRF, const std::string &nameForceContactRF) |
void | setDoubleSupport (const unsigned long time, const std::string &nameContactLF, const std::string &nameContactRF) |
const eVector3 & | getFootForce (const unsigned long time, const std::string &nameFootForceCost) |
const eVector3 & | getFootTorque (const unsigned long time, const std::string &nameFootForceCost) |
const std::set< std::string > & | get_contacts (const unsigned long time) |
void | recede (const AMA &new_model, const ADA &new_data) |
void | recede (const AMA &new_model) |
void | recede () |
int | supportSize (const unsigned long time) |
unsigned long | size () |
void | solve (const Eigen::VectorXd &measured_x, const std::size_t ddpIteration, const bool is_feasible=false) |
const Eigen::VectorXd & | currentTorques (const Eigen::VectorXd &measured_x) |
DDP | get_ddp () |
void | set_ddp (const DDP &ddp) |
Public Attributes | |
bool | initialized_ = false |
sobec::HorizonManager::HorizonManager | ( | ) |
sobec::HorizonManager::HorizonManager | ( | const HorizonManagerSettings & | horizonSettings, |
const Eigen::VectorXd & | x0, | ||
const std::vector< AMA > & | runningModels, | ||
const AMA & | terminalModel | ||
) |
void sobec::HorizonManager::activateContactLF | ( | const unsigned long | time, |
const std::string & | nameContacttLF | ||
) |
void sobec::HorizonManager::activateContactRF | ( | const unsigned long | time, |
const std::string & | nameContactRF | ||
) |
boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > sobec::HorizonManager::actuation | ( | const unsigned long | time | ) |
ADA sobec::HorizonManager::ada | ( | const unsigned long | time | ) |
AMA sobec::HorizonManager::ama | ( | const unsigned long | time | ) |
Contact sobec::HorizonManager::contacts | ( | const unsigned long | time | ) |
Cost sobec::HorizonManager::costs | ( | const unsigned long | time | ) |
const Eigen::VectorXd & sobec::HorizonManager::currentTorques | ( | const Eigen::VectorXd & | measured_x | ) |
DAM sobec::HorizonManager::dam | ( | const unsigned long | time | ) |
const std::set< std::string > & sobec::HorizonManager::get_contacts | ( | const unsigned long | time | ) |
|
inline |
const eVector3 & sobec::HorizonManager::getFootForce | ( | const unsigned long | time, |
const std::string & | nameFootForceCost | ||
) |
const pinocchio::SE3 & sobec::HorizonManager::getFootPoseReference | ( | const unsigned long | time, |
const std::string & | nameCostFootPose | ||
) |
const eVector3 & sobec::HorizonManager::getFootTorque | ( | const unsigned long | time, |
const std::string & | nameFootForceCost | ||
) |
IAD sobec::HorizonManager::iad | ( | const unsigned long | time | ) |
IAM sobec::HorizonManager::iam | ( | const unsigned long | time | ) |
void sobec::HorizonManager::initialize | ( | const HorizonManagerSettings & | horizonSettings, |
const Eigen::VectorXd & | x0, | ||
const std::vector< AMA > & | runningModels, | ||
const AMA & | terminalModel | ||
) |
void sobec::HorizonManager::recede | ( | const AMA & | new_model | ) |
void sobec::HorizonManager::recede | ( | ) |
void sobec::HorizonManager::removeContactLF | ( | const unsigned long | time, |
const std::string & | nameContactLF | ||
) |
void sobec::HorizonManager::removeContactRF | ( | const unsigned long | time, |
const std::string & | nameContactRF | ||
) |
|
inline |
void sobec::HorizonManager::setActuationReference | ( | const unsigned long | time, |
const std::string & | nameCostActuation, | ||
const Eigen::VectorXd & | reference | ||
) |
void sobec::HorizonManager::setBalancingTorque | ( | const unsigned long | time, |
const std::string & | nameCostActuation, | ||
const Eigen::VectorXd & | x | ||
) |
void sobec::HorizonManager::setBalancingTorque | ( | const unsigned long | time, |
const std::string & | nameCostActuation, | ||
const std::string & | nameCostState | ||
) |
void sobec::HorizonManager::setDoubleSupport | ( | const unsigned long | time, |
const std::string & | nameContactLF, | ||
const std::string & | nameContactRF | ||
) |
void sobec::HorizonManager::setForceReferenceLF | ( | const unsigned long | time, |
const std::string & | nameCostLF, | ||
const eVector6 & | reference | ||
) |
void sobec::HorizonManager::setForceReferenceRF | ( | const unsigned long | time, |
const std::string & | nameCostRF, | ||
const eVector6 & | reference | ||
) |
void sobec::HorizonManager::setPoseReferenceLF | ( | const unsigned long | time, |
const std::string & | nameCostLF, | ||
const pinocchio::SE3 & | ref_placement | ||
) |
void sobec::HorizonManager::setPoseReferenceRF | ( | const unsigned long | time, |
const std::string & | nameCostRF, | ||
const pinocchio::SE3 & | ref_placement | ||
) |
void sobec::HorizonManager::setSwingingLF | ( | const unsigned long | time, |
const std::string & | nameContactLF, | ||
const std::string & | nameContactRF, | ||
const std::string & | nameForceContactLF | ||
) |
void sobec::HorizonManager::setSwingingRF | ( | const unsigned long | time, |
const std::string & | nameContactLF, | ||
const std::string & | nameContactRF, | ||
const std::string & | nameForceContactRF | ||
) |
void sobec::HorizonManager::setVelocityRefCOM | ( | const unsigned long | time, |
const std::string & | nameCost, | ||
const eVector3 & | ref_placement | ||
) |
unsigned long sobec::HorizonManager::size | ( | ) |
void sobec::HorizonManager::solve | ( | const Eigen::VectorXd & | measured_x, |
const std::size_t | ddpIteration, | ||
const bool | is_feasible = false |
||
) |
boost::shared_ptr< crocoddyl::StateMultibody > sobec::HorizonManager::state | ( | const unsigned long | time | ) |
int sobec::HorizonManager::supportSize | ( | const unsigned long | time | ) |
bool sobec::HorizonManager::initialized_ = false |