Base interface of contact planners. More...

#include <contact_planner_base.hpp>

Inheritance diagram for robotoc::ContactPlannerBase:

[legend]

Public Member Functions
	ContactPlannerBase ()
	Default constructor. More...

virtual	~ContactPlannerBase ()
	Destructor. More...

	ContactPlannerBase (const ContactPlannerBase &)=default
	Default copy constructor. More...

ContactPlannerBase &	operator= (const ContactPlannerBase &)=default
	Default copy assign operator. More...

	ContactPlannerBase (ContactPlannerBase &&) noexcept=default
	Default move constructor. More...

ContactPlannerBase &	operator= (ContactPlannerBase &&) noexcept=default
	Default move assign operator. More...

virtual void	init (const Eigen::VectorXd &q)=0
	Initializes the planner. More...

virtual bool	plan (const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const ContactStatus &contact_status, const int planning_steps)=0
	Plans the foot steps in the MPC (receding-horizon) fashion. More...

virtual const aligned_vector< SE3 > &	contactPlacements (const int step) const =0
	Gets the contact placements of a specified step. More...

virtual const std::vector< Eigen::Vector3d > &	contactPositions (const int step) const =0
	Gets the contact positions of a specified step. More...

virtual const std::vector< Eigen::Matrix3d > &	contactSurfaces (const int step) const =0
	Gets the contact surfaces of a specified step. More...

virtual const Eigen::Vector3d &	CoM (const int step) const =0
	Gets the CoM position of a specified step. More...

virtual const Eigen::Matrix3d &	R (const int step) const =0
	Gets the rotation matrix of the base at a specified step. More...

virtual int	size () const =0
	Gets the size of each planned quantities. More...

void	disp (std::ostream &os) const

Detailed Description

Base interface of contact planners.

Constructor & Destructor Documentation

◆ ContactPlannerBase() [1/3]

robotoc::ContactPlannerBase::ContactPlannerBase ( )

inline

Default constructor.

◆ ~ContactPlannerBase()

virtual robotoc::ContactPlannerBase::~ContactPlannerBase ( )

inlinevirtual

Destructor.

◆ ContactPlannerBase() [2/3]

robotoc::ContactPlannerBase::ContactPlannerBase ( const ContactPlannerBase & )

default

Default copy constructor.

◆ ContactPlannerBase() [3/3]

robotoc::ContactPlannerBase::ContactPlannerBase ( ContactPlannerBase && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ CoM()

virtual const Eigen::Vector3d & robotoc::ContactPlannerBase::CoM ( const int step ) const

pure virtual

Gets the CoM position of a specified step.

Parameters

[in] step Step of interest.

Returns: const reference to CoM position of a specified step.

Remarks: step=0: previous step, step=1: initial step.

Implemented in robotoc::BipedWalkFootStepPlanner, robotoc::CrawlFootStepPlanner, robotoc::FlyingTrotFootStepPlanner, robotoc::JumpFootStepPlanner, robotoc::PaceFootStepPlanner, and robotoc::TrotFootStepPlanner.

◆ contactPlacements()

virtual const aligned_vector< SE3 > & robotoc::ContactPlannerBase::contactPlacements ( const int step ) const

pure virtual

Gets the contact placements of a specified step.

Parameters

[in] step Step of interest.

Returns: const reference to the contact placements of a specified step.

Remarks: step=0: previous step, step=1: initial step.

Implemented in robotoc::BipedWalkFootStepPlanner, robotoc::CrawlFootStepPlanner, robotoc::FlyingTrotFootStepPlanner, robotoc::JumpFootStepPlanner, robotoc::PaceFootStepPlanner, and robotoc::TrotFootStepPlanner.

◆ contactPositions()

virtual const std::vector< Eigen::Vector3d > & robotoc::ContactPlannerBase::contactPositions ( const int step ) const

pure virtual

Gets the contact positions of a specified step.

Parameters

[in] step Step of interest.

Returns: const reference to the contact positions of a specified step.

Remarks: step=0: previous step, step=1: initial step.

Implemented in robotoc::BipedWalkFootStepPlanner, robotoc::CrawlFootStepPlanner, robotoc::FlyingTrotFootStepPlanner, robotoc::JumpFootStepPlanner, robotoc::PaceFootStepPlanner, and robotoc::TrotFootStepPlanner.

◆ contactSurfaces()

virtual const std::vector< Eigen::Matrix3d > & robotoc::ContactPlannerBase::contactSurfaces ( const int step ) const

pure virtual

Gets the contact surfaces of a specified step.

Parameters

[in] step Step of interest.

Returns: const reference to the contact surfaces of a specified step.

Remarks: step=0: previous step, step=1: initial step.

Implemented in robotoc::BipedWalkFootStepPlanner, robotoc::CrawlFootStepPlanner, robotoc::FlyingTrotFootStepPlanner, robotoc::JumpFootStepPlanner, robotoc::PaceFootStepPlanner, and robotoc::TrotFootStepPlanner.

◆ disp()

void robotoc::ContactPlannerBase::disp ( std::ostream & os ) const

◆ init()

virtual void robotoc::ContactPlannerBase::init ( const Eigen::VectorXd & q )

pure virtual

Initializes the planner.

Parameters

[in] q Initial configuration. Size must be Robot::dimq().

Implemented in robotoc::BipedWalkFootStepPlanner, robotoc::CrawlFootStepPlanner, robotoc::FlyingTrotFootStepPlanner, robotoc::JumpFootStepPlanner, robotoc::PaceFootStepPlanner, and robotoc::TrotFootStepPlanner.

◆ operator=() [1/2]

ContactPlannerBase & robotoc::ContactPlannerBase::operator= ( const ContactPlannerBase & )

default

Default copy assign operator.

◆ operator=() [2/2]

ContactPlannerBase & robotoc::ContactPlannerBase::operator= ( ContactPlannerBase && )

defaultnoexcept

Default move assign operator.

◆ plan()

virtual bool robotoc::ContactPlannerBase::plan	(	const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const ContactStatus &	contact_status,
		const int	planning_steps
	)

pure virtual

Plans the foot steps in the MPC (receding-horizon) fashion.

Parameters

[in]	t	Initial time.
[in]	q	Initial configuration. Size must be Robot::dimq().
[in]	v	Initial velocity. Size must be Robot::dimv().
[in]	contact_status	Initial contact status.
[in]	planning_steps	Number of planning steps. Must be non-negative.

Returns: True if the planning is succeeded. False if not.

Remarks: The linear and angular velocities of the floating base are assumed to be expressed in the body local coordinate.; The implementation must follow: step=0: previous step, step=1: initial step (specified as q and contact_status).

Implemented in robotoc::BipedWalkFootStepPlanner, robotoc::CrawlFootStepPlanner, robotoc::FlyingTrotFootStepPlanner, robotoc::JumpFootStepPlanner, robotoc::PaceFootStepPlanner, and robotoc::TrotFootStepPlanner.

◆ R()

virtual const Eigen::Matrix3d & robotoc::ContactPlannerBase::R ( const int step ) const

pure virtual

Gets the rotation matrix of the base at a specified step.

Parameters

[in] step Step of interest.

Returns: const reference to rotation matrix of the base at a specified step.

Remarks: step=0: previous step, step=1: initial step.

Implemented in robotoc::BipedWalkFootStepPlanner, robotoc::CrawlFootStepPlanner, robotoc::FlyingTrotFootStepPlanner, robotoc::JumpFootStepPlanner, robotoc::PaceFootStepPlanner, and robotoc::TrotFootStepPlanner.

◆ size()

virtual int robotoc::ContactPlannerBase::size ( ) const

pure virtual

Gets the size of each planned quantities.

Returns: Size of planning.

Implemented in robotoc::BipedWalkFootStepPlanner, robotoc::CrawlFootStepPlanner, robotoc::FlyingTrotFootStepPlanner, robotoc::JumpFootStepPlanner, robotoc::PaceFootStepPlanner, and robotoc::TrotFootStepPlanner.

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

/github/workspace/include/robotoc/mpc/contact_planner_base.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ContactPlannerBase() [1/3]

◆ ~ContactPlannerBase()

◆ ContactPlannerBase() [2/3]

◆ ContactPlannerBase() [3/3]

Member Function Documentation

◆ CoM()

◆ contactPlacements()

◆ contactPositions()

◆ contactSurfaces()

◆ disp()

◆ init()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ plan()

◆ R()

◆ size()