Grid information. More...

#include <grid_info.hpp>

Public Member Functions
void	setRandom ()
	Sets random. More...

void	disp (std::ostream &os) const
	Displays the grid info onto a ostream. More...

Static Public Member Functions
static GridInfo	Random ()
	Returns random grid info. More...

Public Attributes
GridType	type = GridType::Intermediate
	Type of the grid. More...

double	t0 = 0
	Initial time of the horizon. More...

double	t = 0
	Time of this grid. More...

double	dt = 0
	Time step of this grid. More...

double	dt_next = 0
	Time step of the next grid. More...

int	phase = 0
	Phase of this grid. More...

int	stage = 0
	Stage of this grid. More...

int	impact_index = -1
	Impact index of this grid. More...

int	lift_index = -1
	Lift index of this grid. More...

int	stage_in_phase = 0
	Stage index counded in the phase. More...

int	num_grids_in_phase = 0
	Total number of grids in the phase. More...

bool	sto = false
	Flag if the STO is enabled in the current phase. More...

bool	sto_next = false
	Flag if the STO is enabled in the next phase. More...

bool	switching_constraint = false
	Flag if the switching constraint is enable or not. More...

Friends
std::ostream &	operator<< (std::ostream &os, const GridInfo &grid_info)

Detailed Description

Grid information.

Member Function Documentation

◆ disp()

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

Displays the grid info onto a ostream.

◆ Random()

static GridInfo robotoc::GridInfo::Random ( )

static

Returns random grid info.

◆ setRandom()

void robotoc::GridInfo::setRandom ( )

Sets random.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const GridInfo &	grid_info
	)

friend

Member Data Documentation

◆ dt

double robotoc::GridInfo::dt = 0

Time step of this grid.

◆ dt_next

double robotoc::GridInfo::dt_next = 0

Time step of the next grid.

◆ impact_index

int robotoc::GridInfo::impact_index = -1

Impact index of this grid.

◆ lift_index

int robotoc::GridInfo::lift_index = -1

Lift index of this grid.

◆ num_grids_in_phase

int robotoc::GridInfo::num_grids_in_phase = 0

Total number of grids in the phase.

◆ phase

int robotoc::GridInfo::phase = 0

Phase of this grid.

◆ stage

int robotoc::GridInfo::stage = 0

Stage of this grid.

◆ stage_in_phase

int robotoc::GridInfo::stage_in_phase = 0

Stage index counded in the phase.

◆ sto

bool robotoc::GridInfo::sto = false

Flag if the STO is enabled in the current phase.

◆ sto_next

bool robotoc::GridInfo::sto_next = false

Flag if the STO is enabled in the next phase.

◆ switching_constraint

bool robotoc::GridInfo::switching_constraint = false

Flag if the switching constraint is enable or not.

◆ t

double robotoc::GridInfo::t = 0

Time of this grid.

◆ t0

double robotoc::GridInfo::t0 = 0

Initial time of the horizon.

◆ type

GridType robotoc::GridInfo::type = GridType::Intermediate

Type of the grid.

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

/github/workspace/include/robotoc/ocp/grid_info.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Friends