#include <quadruped-walkgen/quadruped_step.hpp>
Public Types | |
typedef _Scalar | Scalar |
typedef crocoddyl::ActionDataAbstractTpl< Scalar > | ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl< Scalar > | Base |
typedef crocoddyl::MathBaseTpl< Scalar > | MathBase |
Public Member Functions | |
ActionModelQuadrupedStepTpl () | |
~ActionModelQuadrupedStepTpl () | |
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, 8, 1 > & | get_step_weights () const |
void | set_step_weights (const typename MathBase::VectorXs &weights) |
const Eigen::Matrix< Scalar, 8, 1 > & | get_heuristic_weights () const |
void | set_heuristic_weights (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::VectorXs > &S, const Eigen::Ref< const typename MathBase::MatrixXs > &position, const Eigen::Ref< const typename MathBase::MatrixXs > &velocity, const Eigen::Ref< const typename MathBase::MatrixXs > &acceleration, const Eigen::Ref< const typename MathBase::MatrixXs > &jerk, const Eigen::Ref< const typename MathBase::MatrixXs > &oRh, const Eigen::Ref< const typename MathBase::MatrixXs > &oTh, const Scalar &delta_T) |
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 bool & | get_acc_activated () const |
void | set_acc_activated (const bool &is_activated) |
const Eigen::Matrix< Scalar, 2, 1 > & | get_acc_lim () const |
void | set_acc_lim (const typename MathBase::VectorXs &acceleration_lim_) |
const Scalar & | get_acc_weight () const |
void | set_acc_weight (const Scalar &weight_) |
const bool & | get_vel_activated () const |
void | set_vel_activated (const bool &is_activated) |
const Eigen::Matrix< Scalar, 2, 1 > & | get_vel_lim () const |
void | set_vel_lim (const typename MathBase::VectorXs &velocity_lim_) |
const Scalar & | get_vel_weight () const |
void | set_vel_weight (const Scalar &weight_) |
void | set_sample_feet_traj (const int &n_sample) |
const bool & | get_jerk_activated () const |
void | set_jerk_activated (const bool &is_activated) |
const Scalar & | get_jerk_weight () const |
void | set_jerk_weight (const Scalar &weight_) |
typedef crocoddyl::ActionDataAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepTpl< _Scalar >::ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepTpl< _Scalar >::Base |
typedef crocoddyl::MathBaseTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedStepTpl< _Scalar >::MathBase |
typedef _Scalar quadruped_walkgen::ActionModelQuadrupedStepTpl< _Scalar >::Scalar |
quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::ActionModelQuadrupedStepTpl |
quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::~ActionModelQuadrupedStepTpl |
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const bool & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_acc_activated |
const Eigen::Matrix< Scalar, 2, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_acc_lim |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_acc_weight |
const bool & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_centrifugal_term |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_heuristic_weights |
const bool & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_jerk_activated |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_jerk_weight |
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_state_weights |
const Eigen::Matrix< Scalar, 8, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_step_weights |
const bool & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_symmetry_term |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_T_gait |
const bool & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_vel_activated |
const Eigen::Matrix< Scalar, 2, 1 > & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_vel_lim |
const Scalar & quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::get_vel_weight |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_acc_activated | ( | const bool & | is_activated | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_acc_lim | ( | const typename MathBase::VectorXs & | acceleration_lim_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_acc_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_centrifugal_term | ( | const bool & | cent_term | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_heuristic_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_jerk_activated | ( | const bool & | is_activated | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_jerk_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_sample_feet_traj | ( | const int & | n_sample | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_state_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_step_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_symmetry_term | ( | const bool & | sym_term | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_T_gait | ( | const Scalar & | T_gait_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_vel_activated | ( | const bool & | is_activated | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_vel_lim | ( | const typename MathBase::VectorXs & | velocity_lim_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< Scalar >::set_vel_weight | ( | const Scalar & | weight_ | ) |
void quadruped_walkgen::ActionModelQuadrupedStepTpl< 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::VectorXs > & | S, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | position, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | velocity, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | acceleration, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | jerk, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | oRh, | ||
const Eigen::Ref< const typename MathBase::MatrixXs > & | oTh, | ||
const Scalar & | delta_T | ||
) |