#include <quadruped-walkgen/quadruped_nl.hpp>
Public Types | |
typedef _Scalar | Scalar |
typedef crocoddyl::ActionDataAbstractTpl< Scalar > | ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl< Scalar > | Base |
typedef crocoddyl::MathBaseTpl< Scalar > | MathBase |
Public Member Functions | |
ActionModelQuadrupedNonLinearTpl (typename Eigen::Matrix< Scalar, 3, 1 > offset_CoM=Eigen::Matrix< Scalar, 3, 1 >::Zero()) | |
~ActionModelQuadrupedNonLinearTpl () | |
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_force_weights () const |
void | set_force_weights (const typename MathBase::VectorXs &weights) |
const Eigen::Matrix< Scalar, 12, 1 > & | get_state_weights () const |
void | set_state_weights (const typename MathBase::VectorXs &weights) |
const Scalar & | get_friction_weight () const |
void | set_friction_weight (const Scalar &weight) |
const Scalar & | get_mu () const |
void | set_mu (const Scalar &mu_coeff) |
const Scalar & | get_mass () const |
void | set_mass (const Scalar &m) |
const Scalar & | get_dt () const |
void | set_dt (const Scalar &dt) |
const Eigen::Matrix< Scalar, 3, 3 > & | get_gI () const |
void | set_gI (const typename MathBase::Matrix3s &inertia_matrix) |
const Scalar & | get_min_fz_contact () const |
void | set_min_fz_contact (const Scalar &min_fz) |
const Scalar & | get_max_fz_contact () const |
void | set_max_fz_contact (const Scalar &max_fz_) |
const Scalar & | get_shoulder_hlim () const |
void | set_shoulder_hlim (const Scalar &hlim) |
const Scalar & | get_shoulder_weight () const |
void | set_shoulder_weight (const Scalar &weight) |
const bool & | get_relative_forces () const |
void | set_relative_forces (const bool &rel_forces) |
const bool & | get_implicit_integration () const |
void | set_implicit_integration (const bool &implicit) |
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 Eigen::Matrix< Scalar, 12, 12 > & | get_A () const |
const Eigen::Matrix< Scalar, 12, 12 > & | get_B () const |
typedef crocoddyl::ActionDataAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::ActionDataAbstract |
typedef crocoddyl::ActionModelAbstractTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::Base |
typedef crocoddyl::MathBaseTpl<Scalar> quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::MathBase |
typedef _Scalar quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::Scalar |
quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::ActionModelQuadrupedNonLinearTpl | ( | typename Eigen::Matrix< Scalar, 3, 1 > | offset_CoM = Eigen::Matrix<Scalar, 3, 1>::Zero() | ) |
quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::~ActionModelQuadrupedNonLinearTpl |
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virtual |
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virtual |
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const Eigen::Matrix< Scalar, 12, 12 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_A |
const Eigen::Matrix< Scalar, 12, 12 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_B |
const Scalar & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_dt |
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_force_weights |
const Scalar & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_friction_weight |
const Eigen::Matrix< Scalar, 3, 3 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_gI |
const bool& quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::get_implicit_integration | ( | ) | const |
const Scalar & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_mass |
const Scalar & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_max_fz_contact |
const Scalar & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_min_fz_contact |
const Scalar & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_mu |
const bool & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_relative_forces |
const Scalar & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_shoulder_hlim |
const Scalar & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_shoulder_weight |
const Eigen::Matrix< Scalar, 12, 1 > & quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::get_state_weights |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_dt | ( | const Scalar & | dt | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_force_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_friction_weight | ( | const Scalar & | weight | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_gI | ( | const typename MathBase::Matrix3s & | inertia_matrix | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< _Scalar >::set_implicit_integration | ( | const bool & | implicit | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_mass | ( | const Scalar & | m | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_max_fz_contact | ( | const Scalar & | max_fz_ | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_min_fz_contact | ( | const Scalar & | min_fz | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_mu | ( | const Scalar & | mu_coeff | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_relative_forces | ( | const bool & | rel_forces | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_shoulder_hlim | ( | const Scalar & | hlim | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_shoulder_weight | ( | const Scalar & | weight | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< Scalar >::set_state_weights | ( | const typename MathBase::VectorXs & | weights | ) |
void quadruped_walkgen::ActionModelQuadrupedNonLinearTpl< 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 | ||
) |