#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 |
Public Member Functions | |
ActionModelQuadrupedStepPeriodTpl () | |
~ActionModelQuadrupedStepPeriodTpl () | |
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< ActionDataAbstract > | createData () |
const Eigen::Matrix< Scalar, 12, 1 > & | get_state_weights () const |
void | set_state_weights (const typename MathBase::VectorXs &weights) |
const Eigen::Matrix< Scalar, 4, 1 > & | get_step_weights () const |
void | set_step_weights (const typename MathBase::VectorXs &weights) |
const Eigen::Matrix< Scalar, 8, 1 > & | get_shoulder_weights () const |
void | set_shoulder_weights (const typename MathBase::VectorXs &weights) |
const Eigen::Matrix< Scalar, 8, 1 > & | get_shoulder_position () const |
void | set_shoulder_position (const typename MathBase::VectorXs &weights) |
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 bool & | get_symmetry_term () const |
void | set_symmetry_term (const bool &sym_term) |
const bool & | get_centrifugal_term () const |
void | set_centrifugal_term (const bool ¢_term) |
const Scalar & | get_T_gait () const |
void | set_T_gait (const Scalar &T_gait_) |
const Scalar & | get_dt_ref () const |
void | set_dt_ref (const Scalar &dt) |
const Scalar & | get_dt_min () const |
void | set_dt_min (const Scalar &dt) |
const Scalar & | get_dt_max () const |
void | set_dt_max (const Scalar &dt) |
const Scalar & | get_dt_weight () const |
void | set_dt_weight (const Scalar &weight_) |
const Scalar & | get_dt_bound_weight () const |
void | set_dt_bound_weight (const Scalar &weight_) |
const Scalar & | get_nb_nodes () const |
void | set_nb_nodes (const Scalar &nodes_) |
const Scalar & | get_vlim () const |
void | set_vlim (const Scalar &vlim_) |
const Scalar & | get_speed_weight () const |
void | set_speed_weight (const Scalar &weight_) |
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 |
typedef _Scalar quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< _Scalar >::Scalar |
quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::ActionModelQuadrupedStepPeriodTpl |
quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::~ActionModelQuadrupedStepPeriodTpl |
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const bool & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_centrifugal_term |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_bound_weight |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_max |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_min |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_ref |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_dt_weight |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_nb_nodes |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_shoulder_position |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_shoulder_weights |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_speed_weight |
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_state_weights |
const Eigen::Matrix< Scalar, 4, 1 > & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_step_weights |
const bool & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_symmetry_term |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_T_gait |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepPeriodTpl< Scalar >::get_vlim |
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 | ||
) |