robotoc::DiscreteTimeSwingFootRef Class Reference

Discrete-time reference of the positions of swinging contact frames. More...

#include <discrete_time_swing_foot_ref.hpp>

Inheritance diagram for robotoc::DiscreteTimeSwingFootRef:

Collaboration diagram for robotoc::DiscreteTimeSwingFootRef:

Public Member Functions
	DiscreteTimeSwingFootRef (const int contact_index, const double step_height)
	Constructor. More...
	~DiscreteTimeSwingFootRef ()
	Destructor. More...
void	setSwingFootRef (const std::shared_ptr< ContactSequence > &contact_sequence)
	Set the reference contact positions from the contact sequence. The first and last contact phases must have active contacts. More...
void	setSwingFootRef (const std::shared_ptr< ContactSequence > &contact_sequence, const Eigen::Vector3d &first_contact_position, const Eigen::Vector3d &last_contact_position, const double first_rate=0, const double last_rate=0)
	Set the reference contact positions from the contact sequence. The first and last contact phases must have active contacts. Also, the position refs of the first and last contact phases are defined by user. More...
void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &x3d_ref) const override
	Computes the reference task-space position. More...
bool	isActive (const GridInfo &grid_info) const override
	Checks wheather the cost is active or not at the specified time. More...
Public Member Functions inherited from robotoc::TaskSpace3DRefBase
	TaskSpace3DRefBase ()
	Default constructor. More...
virtual	~TaskSpace3DRefBase ()
	Destructor. More...
	TaskSpace3DRefBase (const TaskSpace3DRefBase &)=default
	Default copy constructor. More...
TaskSpace3DRefBase &	operator= (const TaskSpace3DRefBase &)=default
	Default copy operator. More...
	TaskSpace3DRefBase (TaskSpace3DRefBase &&) noexcept=default
	Default move constructor. More...
TaskSpace3DRefBase &	operator= (TaskSpace3DRefBase &&) noexcept=default
	Default move assign operator. More...
virtual void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &ref_3d) const =0
	Computes the reference task-space position. More...
virtual bool	isActive (const GridInfo &grid_info) const =0
	Checks wheather the cost is active or not at the specified time. More...

Detailed Description

Discrete-time reference of the positions of swinging contact frames.

Constructor & Destructor Documentation

DiscreteTimeSwingFootRef()

robotoc::DiscreteTimeSwingFootRef::DiscreteTimeSwingFootRef	(	const int	contact_index,
		const double	step_height
	)

Constructor.

Parameters

[in]	contact_index	Contact index of interest.
[in]	step_height	The step height of the gait.

~DiscreteTimeSwingFootRef()

robotoc::DiscreteTimeSwingFootRef::~DiscreteTimeSwingFootRef

(

)

Destructor.

Member Function Documentation

isActive()

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

overridevirtual

Checks wheather the cost is active or not at the specified time.

Parameters

[in]

grid_info

Grid info.

Returns

true if the cost is active at time t. false if not.

Implements robotoc::TaskSpace3DRefBase.

setSwingFootRef() [1/2]

void robotoc::DiscreteTimeSwingFootRef::setSwingFootRef

(

const std::shared_ptr< ContactSequence > &

contact_sequence

)

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

Parameters

[in]

contact_sequence

Contact sequence.

setSwingFootRef() [2/2]

void robotoc::DiscreteTimeSwingFootRef::setSwingFootRef	(	const std::shared_ptr< ContactSequence > &	contact_sequence,
		const Eigen::Vector3d &	first_contact_position,
		const Eigen::Vector3d &	last_contact_position,
		const double	first_rate = 0,
		const double	last_rate = 0
	)

Set the reference contact positions from the contact sequence. The first and last contact phases must have active contacts. Also, the position refs of the first and last contact phases are defined by user.

Parameters

[in]	contact_sequence	Contact sequence.
[in]	first_contact_position	Reference contact position at the first contact phase.
[in]	last_contact_position	Reference contact position 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::DiscreteTimeSwingFootRef::updateRef ( const GridInfo &  grid_info, Eigen::VectorXd &  ref_3d  ) const

overridevirtual

Computes the reference task-space position.

Parameters

[in]	grid_info	Grid info.
[in]	ref_3d	Reference position. Size is 3.

Implements robotoc::TaskSpace3DRefBase.

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

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