Crocoddyl
 
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Public Member Functions | Protected Attributes | List of all members
SimpleQuadrupedGaitProblem Class Reference

Public Member Functions

 SimpleQuadrupedGaitProblem (const pinocchio::Model &rmodel, const std::string &lf_foot, const std::string &rf_foot, const std::string &lh_foot, const std::string &rh_foot)
 
std::vector< std::shared_ptr< crocoddyl::ActionModelAbstract > > createFootStepModels (const double timeStep, Eigen::Vector3d &comPos0, std::vector< Eigen::Vector3d > &feetPos0, const double stepLength, const double stepHeight, const std::size_t numKnots, const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds)
 
std::shared_ptr< ActionModelAbstract > createFootSwitchModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds, const std::vector< pinocchio::SE3 > &swingFootTask, const bool pseudoImpulse=false)
 
std::shared_ptr< ActionModelAbstract > createImpulseModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds, const std::vector< pinocchio::SE3 > &ref_swingFootTask)
 
std::shared_ptr< ActionModelAbstract > createPseudoImpulseModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds, const std::vector< pinocchio::SE3 > &swingFootTask)
 
std::shared_ptr< ActionModelAbstract > createSwingFootModel (const double timeStep, const std::vector< pinocchio::FrameIndex > &supportFootIds, const Eigen::Vector3d &comTask=Eigen::Vector3d::Constant(std::numeric_limits< double >::infinity()), const std::vector< pinocchio::FrameIndex > &swingFootIds=std::vector< pinocchio::FrameIndex >(), const std::vector< pinocchio::SE3 > &swingFootTask=std::vector< pinocchio::SE3 >())
 
std::shared_ptr< crocoddyl::ShootingProblem > createWalkingProblem (const Eigen::VectorXd &x0, const double stepLength, const double stepHeight, const double timeStep, const std::size_t stepKnots, const std::size_t supportKnots)
 
const Eigen::VectorXd & get_defaultState () const
 

Protected Attributes

std::shared_ptr< ActuationModelFloatingBase > actuation_
 
Eigen::VectorXd defaultstate_
 
bool firtstep_
 
pinocchio::FrameIndex lf_foot_id_
 
pinocchio::FrameIndex lh_foot_id_
 
pinocchio::Data rdata_
 
pinocchio::FrameIndex rf_foot_id_
 
pinocchio::FrameIndex rh_foot_id_
 
pinocchio::Model rmodel_
 
std::shared_ptr< StateMultibody > state_
 

Detailed Description

Definition at line 37 of file quadruped-gaits.hpp.

Constructor & Destructor Documentation

◆ SimpleQuadrupedGaitProblem()

SimpleQuadrupedGaitProblem ( const pinocchio::Model &  rmodel,
const std::string &  lf_foot,
const std::string &  rf_foot,
const std::string &  lh_foot,
const std::string &  rh_foot 
)

Definition at line 15 of file quadruped-gaits.cpp.

◆ ~SimpleQuadrupedGaitProblem()

~SimpleQuadrupedGaitProblem ( )

Definition at line 47 of file quadruped-gaits.cpp.

Member Function Documentation

◆ createWalkingProblem()

std::shared_ptr< crocoddyl::ShootingProblem > createWalkingProblem ( const Eigen::VectorXd &  x0,
const double  stepLength,
const double  stepHeight,
const double  timeStep,
const std::size_t  stepKnots,
const std::size_t  supportKnots 
)

Definition at line 50 of file quadruped-gaits.cpp.

◆ createFootStepModels()

std::vector< std::shared_ptr< crocoddyl::ActionModelAbstract > > createFootStepModels ( const double  timeStep,
Eigen::Vector3d &  comPos0,
std::vector< Eigen::Vector3d > &  feetPos0,
const double  stepLength,
const double  stepHeight,
const std::size_t  numKnots,
const std::vector< pinocchio::FrameIndex > &  supportFootIds,
const std::vector< pinocchio::FrameIndex > &  swingFootIds 
)

Definition at line 147 of file quadruped-gaits.cpp.

◆ createSwingFootModel()

std::shared_ptr< crocoddyl::ActionModelAbstract > createSwingFootModel ( const double  timeStep,
const std::vector< pinocchio::FrameIndex > &  supportFootIds,
const Eigen::Vector3d &  comTask = Eigen::Vector3d::Constant(std::numeric_limits<double>::infinity()),
const std::vector< pinocchio::FrameIndex > &  swingFootIds = std::vector<pinocchio::FrameIndex>(),
const std::vector< pinocchio::SE3 > &  swingFootTask = std::vector<pinocchio::SE3>() 
)

Definition at line 208 of file quadruped-gaits.cpp.

◆ createFootSwitchModel()

std::shared_ptr< ActionModelAbstract > createFootSwitchModel ( const std::vector< pinocchio::FrameIndex > &  supportFootIds,
const std::vector< pinocchio::FrameIndex > &  swingFootIds,
const std::vector< pinocchio::SE3 > &  swingFootTask,
const bool  pseudoImpulse = false 
)

Definition at line 282 of file quadruped-gaits.cpp.

◆ createPseudoImpulseModel()

std::shared_ptr< crocoddyl::ActionModelAbstract > createPseudoImpulseModel ( const std::vector< pinocchio::FrameIndex > &  supportFootIds,
const std::vector< pinocchio::FrameIndex > &  swingFootIds,
const std::vector< pinocchio::SE3 > &  swingFootTask 
)

Definition at line 297 of file quadruped-gaits.cpp.

◆ createImpulseModel()

std::shared_ptr< ActionModelAbstract > createImpulseModel ( const std::vector< pinocchio::FrameIndex > &  supportFootIds,
const std::vector< pinocchio::FrameIndex > &  swingFootIds,
const std::vector< pinocchio::SE3 > &  ref_swingFootTask 
)

Definition at line 369 of file quadruped-gaits.cpp.

◆ get_defaultState()

const Eigen::VectorXd & get_defaultState ( ) const

Definition at line 420 of file quadruped-gaits.cpp.

Member Data Documentation

◆ rmodel_

pinocchio::Model rmodel_
protected

Definition at line 88 of file quadruped-gaits.hpp.

◆ rdata_

pinocchio::Data rdata_
protected

Definition at line 89 of file quadruped-gaits.hpp.

◆ lf_foot_id_

pinocchio::FrameIndex lf_foot_id_
protected

Definition at line 90 of file quadruped-gaits.hpp.

◆ rf_foot_id_

pinocchio::FrameIndex rf_foot_id_
protected

Definition at line 90 of file quadruped-gaits.hpp.

◆ lh_foot_id_

pinocchio::FrameIndex lh_foot_id_
protected

Definition at line 90 of file quadruped-gaits.hpp.

◆ rh_foot_id_

pinocchio::FrameIndex rh_foot_id_
protected

Definition at line 90 of file quadruped-gaits.hpp.

◆ state_

std::shared_ptr<StateMultibody> state_
protected

Definition at line 91 of file quadruped-gaits.hpp.

◆ actuation_

std::shared_ptr<ActuationModelFloatingBase> actuation_
protected

Definition at line 92 of file quadruped-gaits.hpp.

◆ firtstep_

bool firtstep_
protected

Definition at line 93 of file quadruped-gaits.hpp.

◆ defaultstate_

Eigen::VectorXd defaultstate_
protected

Definition at line 94 of file quadruped-gaits.hpp.

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