Go to the documentation of this file. 1 #ifndef SOBEC_MODEL_FACTORY
2 #define SOBEC_MODEL_FACTORY
4 #include <pinocchio/fwd.hpp>
60 boost::shared_ptr<crocoddyl::StateMultibody> state_;
61 boost::shared_ptr<crocoddyl::ActuationModelFloatingBase> actuation_;
91 boost::shared_ptr<crocoddyl::StateMultibody>
getState() {
return state_; }
92 void setState(
const boost::shared_ptr<crocoddyl::StateMultibody> &new_state) {
95 boost::shared_ptr<crocoddyl::ActuationModelFloatingBase>
getActuation() {
99 const boost::shared_ptr<crocoddyl::ActuationModelFloatingBase>
101 actuation_ = new_actuation;
106 #endif // SOBEC_MODEL_FACTORY
double mu
Definition: model_factory.hpp:28
double wCoP
Definition: model_factory.hpp:47
double wWrenchCone
Definition: model_factory.hpp:42
double timeStep
Definition: model_factory.hpp:20
Definition: model_factory.hpp:17
Eigen::Vector2d eVector2
Definition: fwd.hpp:108
double wFootTrans
Definition: model_factory.hpp:43
eVector2 coneBox
Definition: model_factory.hpp:29
void defineFeetContact(Contact &contactCollector, const Support &support=Support::DOUBLE)
Definition: model_factory.cpp:33
double wVCoM
Definition: model_factory.hpp:41
double wFootXYTrans
Definition: model_factory.hpp:44
@ LEFT
Definition: model_factory.hpp:15
double omega
Definition: model_factory.hpp:34
Eigen::VectorXd stateWeights
Definition: model_factory.hpp:49
double wGroundCol
Definition: model_factory.hpp:46
void defineFeetTracking(Cost &costCollector)
Definition: model_factory.cpp:114
double wFootPlacement
Definition: model_factory.hpp:37
boost::shared_ptr< crocoddyl::ContactModelMultiple > Contact
Definition: fwd.hpp:116
Definition: designer.hpp:28
void initialize(const ModelMakerSettings &settings, const RobotDesigner &design)
Definition: model_factory.cpp:17
double maxNforce
Definition: model_factory.hpp:31
void defineJointLimits(Cost &costCollector)
Definition: model_factory.cpp:178
boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > getActuation()
Definition: model_factory.hpp:95
boost::shared_ptr< crocoddyl::ActionModelAbstract > AMA
Definition: fwd.hpp:111
Eigen::VectorXd controlWeights
Definition: model_factory.hpp:50
Definition: activation-quad-ref.hpp:19
boost::shared_ptr< crocoddyl::CostModelSum > Cost
Definition: fwd.hpp:115
AMA formulate_stair_climber(const Support &support=Support::DOUBLE)
double comHeight
Definition: model_factory.hpp:33
@ RIGHT
Definition: model_factory.hpp:15
double wStateReg
Definition: model_factory.hpp:38
void defineCoMVelocity(Cost &costCollector)
Definition: model_factory.cpp:205
void defineActuationTask(Cost &costCollector)
Definition: model_factory.cpp:161
ModelMaker()
Definition: model_factory.cpp:10
void setState(const boost::shared_ptr< crocoddyl::StateMultibody > &new_state)
Definition: model_factory.hpp:92
double th_stop
Definition: model_factory.hpp:52
AMA formulateStepTracker(const Support &support=Support::DOUBLE)
Definition: model_factory.cpp:248
eVector3 gravity
Definition: model_factory.hpp:23
double wControlReg
Definition: model_factory.hpp:39
ModelMakerSettings & get_settings()
Definition: model_factory.hpp:76
Definition: model_factory.hpp:55
double wLimit
Definition: model_factory.hpp:40
boost::shared_ptr< crocoddyl::StateMultibody > getState()
Definition: model_factory.hpp:91
bool initialized_
Definition: model_factory.hpp:69
void defineCoPTask(Cost &costCollector, const Support &support=Support::DOUBLE)
Definition: model_factory.cpp:216
double footSize
Definition: model_factory.hpp:26
double wFootRot
Definition: model_factory.hpp:45
Support
Definition: model_factory.hpp:15
void setActuation(const boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > &new_actuation)
Definition: model_factory.hpp:98
double minNforce
Definition: model_factory.hpp:30
@ DOUBLE
Definition: model_factory.hpp:15
double th_grad
Definition: model_factory.hpp:53
Eigen::Vector3d eVector3
Definition: fwd.hpp:107
void defineFeetWrenchCost(Cost &costCollector, const Support &support=Support::DOUBLE)
Definition: model_factory.cpp:57
std::vector< AMA > formulateHorizon(const std::vector< Support > &supports)
Definition: model_factory.cpp:272
void definePostureTask(Cost &costCollector)
Definition: model_factory.cpp:143