robotoc::DiscreteTimeCoMRef Class Reference

Discrete-time reference of the center of mass. More...

#include <discrete_time_com_ref.hpp>

Inheritance diagram for robotoc::DiscreteTimeCoMRef:

Collaboration diagram for robotoc::DiscreteTimeCoMRef:

Public Member Functions
	DiscreteTimeCoMRef (const std::vector< Eigen::Vector3d > &com_to_contact_position)
	Constructor. More...
	~DiscreteTimeCoMRef ()
	Destructor. More...
void	setCoMRef (const std::shared_ptr< ContactSequence > &contact_sequence)
	Set the reference positions of CoM from the contact positions of the contact sequence. The first and last contact phases must have active contacts. More...
void	setCoMRef (const std::shared_ptr< ContactSequence > &contact_sequence, const Eigen::Vector3d &first_com_ref, const Eigen::Vector3d &last_com_ref, const double first_rate=0, const double last_rate=0)
	Set the reference positions of CoM from the contact positions of the contact sequence. Also, the CoM refs of the first and last contact phases are defined by user. More...
void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &com_ref) const override
	Computes the reference CoM position. More...
bool	isActive (const GridInfo &grid_info) const override
	Checks wheather the cost is active or not for the given grid info. More...
Public Member Functions inherited from robotoc::CoMRefBase
	CoMRefBase ()
	Default constructor. More...
virtual	~CoMRefBase ()
	Destructor. More...
	CoMRefBase (const CoMRefBase &)=default
	Default copy constructor. More...
CoMRefBase &	operator= (const CoMRefBase &)=default
	Default copy operator. More...
	CoMRefBase (CoMRefBase &&) noexcept=default
	Default move constructor. More...
CoMRefBase &	operator= (CoMRefBase &&) noexcept=default
	Default move assign operator. More...
virtual void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &com_ref) const =0
	Computes the reference CoM position. More...
virtual bool	isActive (const GridInfo &grid_info) const =0
	Checks wheather the cost is active or not for the given grid info. More...

Detailed Description

Discrete-time reference of the center of mass.

Constructor & Destructor Documentation

DiscreteTimeCoMRef()

robotoc::DiscreteTimeCoMRef::DiscreteTimeCoMRef

(

const std::vector< Eigen::Vector3d > &

com_to_contact_position

)

Constructor.

Parameters

[in]

com_to_contact_position

Relative contact positions from the CoM position position.

~DiscreteTimeCoMRef()

robotoc::DiscreteTimeCoMRef::~DiscreteTimeCoMRef

(

)

Destructor.

Member Function Documentation

isActive()

bool robotoc::DiscreteTimeCoMRef::isActive ( const GridInfo &  grid_info ) const

overridevirtual

Checks wheather the cost is active or not for the given grid info.

Parameters

[in]

grid_info

Grid info.

Returns

true if the cost is active for the given grid_info. false if not.

Implements robotoc::CoMRefBase.

setCoMRef() [1/2]

void robotoc::DiscreteTimeCoMRef::setCoMRef

(

const std::shared_ptr< ContactSequence > &

contact_sequence

)

Set the reference positions of CoM from the contact positions of the contact sequence. The first and last contact phases must have active contacts.

Parameters

[in]

contact_sequence

Contact sequence.

setCoMRef() [2/2]

void robotoc::DiscreteTimeCoMRef::setCoMRef	(	const std::shared_ptr< ContactSequence > &	contact_sequence,
		const Eigen::Vector3d &	first_com_ref,
		const Eigen::Vector3d &	last_com_ref,
		const double	first_rate = 0,
		const double	last_rate = 0
	)

Set the reference positions of CoM from the contact positions of the contact sequence. Also, the CoM refs of the first and last contact phases are defined by user.

Parameters

[in]	contact_sequence	Contact sequence.
[in]	first_com_ref	CoM reference at the first contact phase.
[in]	last_com_ref	CoM reference at the last contact phase.
[in]	first_rate	Rate of the first contact position (0 <= rate <= 1). Default is 0.
[in]	last_rate	Rate of the last contact position (0 <= rate <= 1). Default is 0.

updateRef()

void robotoc::DiscreteTimeCoMRef::updateRef ( const GridInfo &  grid_info, Eigen::VectorXd &  com_ref  ) const

overridevirtual

Computes the reference CoM position.

Parameters

[in]	grid_info	Grid info.
[in]	com_ref	Reference CoM position Size is 3.

Implements robotoc::CoMRefBase.

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

• /github/workspace/include/robotoc/cost/discrete_time_com_ref.hpp