sobec::ModelMaker Class Reference

#include <sobec/walk-with-traj/model_factory.hpp>

Public Member Functions

 ModelMaker ()
 
 ModelMaker (const ModelMakerSettings &settings, const RobotDesigner &design)
 
void initialize (const ModelMakerSettings &settings, const RobotDesigner &design)
 
AMA formulateStepTracker (const Support &support=Support::DOUBLE)
 
AMA formulate_stair_climber (const Support &support=Support::DOUBLE)
 
std::vector< AMAformulateHorizon (const std::vector< Support > &supports)
 
std::vector< AMAformulateHorizon (const int &T)
 
ModelMakerSettingsget_settings ()
 
void defineFeetContact (Contact &contactCollector, const Support &support=Support::DOUBLE)
 
void defineFeetWrenchCost (Cost &costCollector, const Support &support=Support::DOUBLE)
 
void defineFeetTracking (Cost &costCollector)
 
void definePostureTask (Cost &costCollector)
 
void defineActuationTask (Cost &costCollector)
 
void defineJointLimits (Cost &costCollector)
 
void defineCoMVelocity (Cost &costCollector)
 
void defineCoPTask (Cost &costCollector, const Support &support=Support::DOUBLE)
 
boost::shared_ptr< crocoddyl::StateMultibody > getState ()
 
void setState (const boost::shared_ptr< crocoddyl::StateMultibody > &new_state)
 
boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > getActuation ()
 
void setActuation (const boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > &new_actuation)
 

Public Attributes

bool initialized_ = false
 

Constructor & Destructor Documentation

◆ ModelMaker() [1/2]

sobec::ModelMaker::ModelMaker ( )

◆ ModelMaker() [2/2]

sobec::ModelMaker::ModelMaker ( const ModelMakerSettings settings,
const RobotDesigner design 
)

Member Function Documentation

◆ defineActuationTask()

void sobec::ModelMaker::defineActuationTask ( Cost costCollector)

◆ defineCoMVelocity()

void sobec::ModelMaker::defineCoMVelocity ( Cost costCollector)

◆ defineCoPTask()

void sobec::ModelMaker::defineCoPTask ( Cost costCollector,
const Support support = Support::DOUBLE 
)

◆ defineFeetContact()

void sobec::ModelMaker::defineFeetContact ( Contact contactCollector,
const Support support = Support::DOUBLE 
)

◆ defineFeetTracking()

void sobec::ModelMaker::defineFeetTracking ( Cost costCollector)

◆ defineFeetWrenchCost()

void sobec::ModelMaker::defineFeetWrenchCost ( Cost costCollector,
const Support support = Support::DOUBLE 
)

◆ defineJointLimits()

void sobec::ModelMaker::defineJointLimits ( Cost costCollector)

◆ definePostureTask()

void sobec::ModelMaker::definePostureTask ( Cost costCollector)

◆ formulate_stair_climber()

AMA sobec::ModelMaker::formulate_stair_climber ( const Support support = Support::DOUBLE)

◆ formulateHorizon() [1/2]

std::vector< AMA > sobec::ModelMaker::formulateHorizon ( const int &  T)

◆ formulateHorizon() [2/2]

std::vector< AMA > sobec::ModelMaker::formulateHorizon ( const std::vector< Support > &  supports)

◆ formulateStepTracker()

AMA sobec::ModelMaker::formulateStepTracker ( const Support support = Support::DOUBLE)

◆ get_settings()

ModelMakerSettings& sobec::ModelMaker::get_settings ( )
inline

◆ getActuation()

boost::shared_ptr<crocoddyl::ActuationModelFloatingBase> sobec::ModelMaker::getActuation ( )
inline

◆ getState()

boost::shared_ptr<crocoddyl::StateMultibody> sobec::ModelMaker::getState ( )
inline

◆ initialize()

void sobec::ModelMaker::initialize ( const ModelMakerSettings settings,
const RobotDesigner design 
)

◆ setActuation()

void sobec::ModelMaker::setActuation ( const boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > &  new_actuation)
inline

◆ setState()

void sobec::ModelMaker::setState ( const boost::shared_ptr< crocoddyl::StateMultibody > &  new_state)
inline

Member Data Documentation

◆ initialized_

bool sobec::ModelMaker::initialized_ = false

The documentation for this class was generated from the following files: