hpp-bezier-com-traj
4.10.1
Multi contact trajectory generation for the COM using Bezier curves
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6 #ifndef BEZIER_COM_TRAJ_c0_dc0_ddc0_H
7 #define BEZIER_COM_TRAJ_c0_dc0_ddc0_H
12 namespace c0_dc0_ddc0 {
33 t3 * (3 * (pi[1] - pi[2]) - pi[0]) + t2 * (3 * (pi[0] + pi[2]) - 6 * pi[1]) + 3 * t * (pi[1] - pi[0]) + pi[0];
39 double alpha = 1. / (T * T);
42 wp.first = 6.0 * t * alpha;
43 wp.second = (18. * (pi[1] - pi[2]) - 6. * pi[0]) * alpha * t + (6. * (pi[0] + pi[2]) - 12.0 * pi[1]) * alpha;
52 std::vector<point_t> pi;
53 pi.push_back(pData.
c0_);
54 pi.push_back((pData.
dc0_ * T / n) + pData.
c0_);
55 pi.push_back((pData.
ddc0_ * T * T / (n * (n - 1))) + (2. * pData.
dc0_ * T / n) + pData.
c0_);
56 pi.push_back(point_t::Zero());
61 bezier_wp_t::t_point_t wps;
63 const int DIM_VAR = 3;
65 std::vector<Matrix3> Cpi;
66 for (std::size_t i = 0; i < pi.size(); ++i) {
67 Cpi.push_back(
skew(pi[i]));
70 const Matrix3 Cg =
skew(g), Id = Matrix3::Identity();
71 const double T2 = T * T;
72 const double alpha = 1 / (T2);
76 w0.second.head<3>() = (6 * pi[0] - 12 * pi[1] + 6 * pi[2]) * alpha;
77 w0.second.tail<3>() = 1.0 * (1.0 * Cg * T2 * pi[0] - 12.0 * Cpi[0] * pi[1] + 6.0 * Cpi[0] * pi[2]) * alpha;
80 w1.first.block<3, 3>(0, 0) = 2.0 * alpha * Id;
81 w1.first.block<3, 3>(3, 0) = 2.0 * Cpi[0] * alpha;
82 w1.second.head<3>() = 1.0 * (4.0 * pi[0] - 6.0 * pi[1]) * alpha;
83 w1.second.tail<3>() = 1.0 * (1.0 * Cg * T2 * pi[1] - 6.0 * Cpi[0] * pi[2] + 6.0 * Cpi[1] * pi[2]) * alpha;
86 w2.first.block<3, 3>(0, 0) = 4.0 * alpha * Id;
87 w2.first.block<3, 3>(3, 0) = 1.0 * (-2.0 * Cpi[0] + 6.0 * Cpi[1]) * alpha;
88 w2.second.head<3>() = 1.0 * (2.0 * pi[0] - 6.0 * pi[2]) * alpha;
89 w2.second.tail<3>() = 1.0 * (1.0 * Cg * T2 * pi[2] - 6.0 * Cpi[1] * pi[2]) * alpha;
92 w3.first.block<3, 3>(0, 0) = 6 * alpha * Id;
93 w3.first.block<3, 3>(3, 0) = 1.0 * (1.0 * Cg * T2 - 6.0 * Cpi[1] + 12.0 * Cpi[2]) * alpha;
94 w3.second.head<3>() = (6 * pi[1] - 12 * pi[2]) * alpha;
106 v.second = -3. * pi[2] / T;
INIT_ACC
Definition: flags.hh:22
bezier_wp_t::t_point_t computeWwaypoints(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_ddc0.hh:60
waypoint6_t w1(point_t_tC p0, point_t_tC p1, point_t_tC, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha)
Definition: solve_0_step.cpp:22
coefs_t evaluateCurveAtTime(const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi...
Definition: waypoints_c0_dc0_ddc0.hh:24
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:61
point_t dc0_
Definition: data.hh:103
std::vector< point_t > computeConstantWaypoints(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_ddc0.hh:47
centroidal_dynamics::Vector3 Vector3
Definition: definitions.hh:21
coefs_t evaluateAccelerationCurveAtTime(const std::vector< point_t > &pi, double T, double t)
Definition: waypoints_c0_dc0_ddc0.hh:37
coefs_t computeFinalVelocityPoint(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_ddc0.hh:100
Eigen::Matrix< value_type, 3, 3 > Matrix3
Definition: definitions.hh:16
INIT_VEL
Definition: flags.hh:21
point_t c0_
Definition: data.hh:103
waypoint6_t w3(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &, const double alpha)
Definition: solve_0_step.cpp:42
point_t ddc0_
Definition: data.hh:103
const int DIM_POINT
Definition: solve_end_effector.hh:15
waypoint6_t w2(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha)
Definition: solve_0_step.cpp:32
BEZIER_COM_TRAJ_DLLAPI Matrix3 skew(point_t_tC x)
skew symmetric matrix
Definition: utils.cpp:56
waypoint6_t w0(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &p0X, const Matrix3 &, const Matrix3 &, const double alpha)
Definition: solve_0_step.cpp:12
Definition: common_solve_methods.hh:16
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition: data.hh:88
std::vector< ContactData > contacts_
Definition: data.hh:102
INIT_POS
Definition: flags.hh:20