#include <sobec/walk-with-traj/horizon_manager.hpp>

Public Member Functions
	HorizonManager ()

	HorizonManager (const HorizonManagerSettings &horizonSettings, const Eigen::VectorXd &x0, const std::vector< AMA > &runningModels, const AMA &terminalModel)

void	initialize (const HorizonManagerSettings &horizonSettings, const Eigen::VectorXd &x0, const std::vector< AMA > &runningModels, const AMA &terminalModel)

AMA	ama (const unsigned long time)

IAM	iam (const unsigned long time)

IAM	terminaliam ()

DAM	dam (const unsigned long time)

DAM	terminaldam ()

ADA	ada (const unsigned long time)

IAD	iad (const unsigned long time)

DAD	dad (const unsigned long time)

pinocchio::Data	pinData (const unsigned long time)

Cost	costs (const unsigned long time)

Cost	terminalCosts ()

Contact	contacts (const unsigned long time)

boost::shared_ptr< crocoddyl::StateMultibody >	state (const unsigned long time)

boost::shared_ptr< crocoddyl::ActuationModelFloatingBase >	actuation (const unsigned long time)

void	setActuationReference (const unsigned long time, const std::string &nameCostActuation, const Eigen::VectorXd &reference)

Eigen::VectorXd	getActuationReference (const unsigned long time, const std::string &nameCostActuation)

void	setBalancingTorque (const unsigned long time, const std::string &nameCostActuation, const Eigen::VectorXd &x)

void	setBalancingTorque (const unsigned long time, const std::string &nameCostActuation, const std::string &nameCostState)

void	setPoseReference (const unsigned long time, const std::string &nameCost, const pinocchio::SE3 &ref_placement)

void	setRotationReference (const unsigned long time, const std::string &nameCost, const Eigen::Matrix3d &ref_rotation)

void	setTerminalRotationReference (const std::string &nameCost, const Eigen::Matrix3d &ref_rotation)

void	setTranslationReference (const unsigned long time, const std::string &nameCost, const eVector3 &ref_translation)

void	setTerminalPoseReference (const std::string &nameCost, const pinocchio::SE3 &ref_placement)

void	setTerminalTranslationReference (const std::string &nameCost, const eVector3 &ref_translation)

const pinocchio::SE3 &	getFootPoseReference (const unsigned long time, const std::string &nameCostFootPose)

const pinocchio::SE3 &	getTerminalFootPoseReference (const std::string &nameCostFootPose)

void	setVelocityRefCOM (const unsigned long time, const std::string &nameCost, const eVector3 &ref_placement)

void	setVelocityRefFeet (const unsigned long time, const std::string &nameCost, const pinocchio::Motion &ref_velocity)

void	activateContactLF (const unsigned long time, const std::string &nameContacttLF)

void	activateContactRF (const unsigned long time, const std::string &nameContactRF)

void	removeContactLF (const unsigned long time, const std::string &nameContactLF)

void	removeContactRF (const unsigned long time, const std::string &nameContactRF)

void	setForceReference (const unsigned long time, const std::string &nameCost, const eVector6 &reference)

void	setWrenchReference (const unsigned long time, const std::string &nameCost, const eVector6 &reference)

void	setTerminalPoseCoM (const std::string &nameCost, const eVector3 &ref_placement)

void	setTerminalDCMReference (const std::string &nameCost, const eVector3 &ref_translation)

void	setSwingingLF (const unsigned long time, const std::string &nameContactLF, const std::string &nameContactRF, const std::string &nameForceContactLF)

void	setSwingingRF (const unsigned long time, const std::string &nameContactLF, const std::string &nameContactRF, const std::string &nameForceContactRF)

void	setDoubleSupport (const unsigned long time, const std::string &nameContactLF, const std::string &nameContactRF)

void	setSurfaceInequality (const unsigned long time, const std::string &nameCost, const eVector2 &XYpose, const double &orientation)

const eVector3 &	getFootForce (const unsigned long time, const std::string &nameFootForceCost)

const eVector3 &	getFootTorque (const unsigned long time, const std::string &nameFootForceCost)

const std::set< std::string > &	get_contacts (const unsigned long time)

void	recede (const AMA &new_model, const ADA &new_data)

void	recede (const AMA &new_model)

void	recede ()

int	supportSize (const unsigned long time)

unsigned long	size ()

void	solve (const Eigen::VectorXd &measured_x, const std::size_t ddpIteration, const bool is_feasible=false)

const Eigen::VectorXd &	currentTorques (const Eigen::VectorXd &measured_x)

DDP	get_ddp ()

void	set_ddp (const DDP &ddp)

Public Attributes
bool	initialized_ = false

Constructor & Destructor Documentation

◆ HorizonManager() [1/2]

sobec::HorizonManager::HorizonManager ( )

◆ HorizonManager() [2/2]

sobec::HorizonManager::HorizonManager	(	const HorizonManagerSettings &	horizonSettings,
		const Eigen::VectorXd &	x0,
		const std::vector< AMA > &	runningModels,
		const AMA &	terminalModel
	)

Member Function Documentation

◆ activateContactLF()

void sobec::HorizonManager::activateContactLF	(	const unsigned long	time,
		const std::string &	nameContacttLF
	)

◆ activateContactRF()

void sobec::HorizonManager::activateContactRF	(	const unsigned long	time,
		const std::string &	nameContactRF
	)

◆ actuation()

boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > sobec::HorizonManager::actuation ( const unsigned long time )

◆ ada()

ADA sobec::HorizonManager::ada ( const unsigned long time )

◆ ama()

AMA sobec::HorizonManager::ama ( const unsigned long time )

◆ contacts()

Contact sobec::HorizonManager::contacts ( const unsigned long time )

◆ costs()

Cost sobec::HorizonManager::costs ( const unsigned long time )

◆ currentTorques()

const Eigen::VectorXd & sobec::HorizonManager::currentTorques ( const Eigen::VectorXd & measured_x )

Todo:: : make a boolean -> IT is necessary to have solved at least one time to use this method.

◆ dad()

DAD sobec::HorizonManager::dad ( const unsigned long time )

◆ dam()

DAM sobec::HorizonManager::dam ( const unsigned long time )

◆ get_contacts()

const std::set< std::string > & sobec::HorizonManager::get_contacts ( const unsigned long time )

◆ get_ddp()

DDP sobec::HorizonManager::get_ddp ( )

inline

◆ getActuationReference()

Eigen::VectorXd sobec::HorizonManager::getActuationReference	(	const unsigned long	time,
		const std::string &	nameCostActuation
	)

◆ getFootForce()

const eVector3 & sobec::HorizonManager::getFootForce	(	const unsigned long	time,
		const std::string &	nameFootForceCost
	)

◆ getFootPoseReference()

const pinocchio::SE3 & sobec::HorizonManager::getFootPoseReference	(	const unsigned long	time,
		const std::string &	nameCostFootPose
	)

◆ getFootTorque()

const eVector3 & sobec::HorizonManager::getFootTorque	(	const unsigned long	time,
		const std::string &	nameFootForceCost
	)

◆ getTerminalFootPoseReference()

const pinocchio::SE3 & sobec::HorizonManager::getTerminalFootPoseReference ( const std::string & nameCostFootPose )

◆ iad()

IAD sobec::HorizonManager::iad ( const unsigned long time )

◆ iam()

IAM sobec::HorizonManager::iam ( const unsigned long time )

◆ initialize()

void sobec::HorizonManager::initialize	(	const HorizonManagerSettings &	horizonSettings,
		const Eigen::VectorXd &	x0,
		const std::vector< AMA > &	runningModels,
		const AMA &	terminalModel
	)

◆ pinData()

pinocchio::Data sobec::HorizonManager::pinData ( const unsigned long time )

◆ recede() [1/3]

void sobec::HorizonManager::recede ( )

◆ recede() [2/3]

void sobec::HorizonManager::recede ( const AMA & new_model )

◆ recede() [3/3]

void sobec::HorizonManager::recede	(	const AMA &	new_model,
		const ADA &	new_data
	)

◆ removeContactLF()

void sobec::HorizonManager::removeContactLF	(	const unsigned long	time,
		const std::string &	nameContactLF
	)

◆ removeContactRF()

void sobec::HorizonManager::removeContactRF	(	const unsigned long	time,
		const std::string &	nameContactRF
	)

◆ set_ddp()

void sobec::HorizonManager::set_ddp ( const DDP & ddp )

inline

◆ setActuationReference()

void sobec::HorizonManager::setActuationReference	(	const unsigned long	time,
		const std::string &	nameCostActuation,
		const Eigen::VectorXd &	reference
	)

◆ setBalancingTorque() [1/2]

void sobec::HorizonManager::setBalancingTorque	(	const unsigned long	time,
		const std::string &	nameCostActuation,
		const Eigen::VectorXd &	x
	)

◆ setBalancingTorque() [2/2]

void sobec::HorizonManager::setBalancingTorque	(	const unsigned long	time,
		const std::string &	nameCostActuation,
		const std::string &	nameCostState
	)

Todo:: : All functions using string names, should receive such names as input.

◆ setDoubleSupport()

void sobec::HorizonManager::setDoubleSupport	(	const unsigned long	time,
		const std::string &	nameContactLF,
		const std::string &	nameContactRF
	)

◆ setForceReference()

void sobec::HorizonManager::setForceReference	(	const unsigned long	time,
		const std::string &	nameCost,
		const eVector6 &	reference
	)

◆ setPoseReference()

void sobec::HorizonManager::setPoseReference	(	const unsigned long	time,
		const std::string &	nameCost,
		const pinocchio::SE3 &	ref_placement
	)

◆ setRotationReference()

void sobec::HorizonManager::setRotationReference	(	const unsigned long	time,
		const std::string &	nameCost,
		const Eigen::Matrix3d &	ref_rotation
	)

◆ setSurfaceInequality()

void sobec::HorizonManager::setSurfaceInequality	(	const unsigned long	time,
		const std::string &	nameCost,
		const eVector2 &	XYpose,
		const double &	orientation
	)

◆ setSwingingLF()

void sobec::HorizonManager::setSwingingLF	(	const unsigned long	time,
		const std::string &	nameContactLF,
		const std::string &	nameContactRF,
		const std::string &	nameForceContactLF
	)

◆ setSwingingRF()

void sobec::HorizonManager::setSwingingRF	(	const unsigned long	time,
		const std::string &	nameContactLF,
		const std::string &	nameContactRF,
		const std::string &	nameForceContactRF
	)

◆ setTerminalDCMReference()

void sobec::HorizonManager::setTerminalDCMReference	(	const std::string &	nameCost,
		const eVector3 &	ref_translation
	)

◆ setTerminalPoseCoM()

void sobec::HorizonManager::setTerminalPoseCoM	(	const std::string &	nameCost,
		const eVector3 &	ref_placement
	)

◆ setTerminalPoseReference()

void sobec::HorizonManager::setTerminalPoseReference	(	const std::string &	nameCost,
		const pinocchio::SE3 &	ref_placement
	)

◆ setTerminalRotationReference()

void sobec::HorizonManager::setTerminalRotationReference	(	const std::string &	nameCost,
		const Eigen::Matrix3d &	ref_rotation
	)

◆ setTerminalTranslationReference()

void sobec::HorizonManager::setTerminalTranslationReference	(	const std::string &	nameCost,
		const eVector3 &	ref_translation
	)

◆ setTranslationReference()

void sobec::HorizonManager::setTranslationReference	(	const unsigned long	time,
		const std::string &	nameCost,
		const eVector3 &	ref_translation
	)

◆ setVelocityRefCOM()

void sobec::HorizonManager::setVelocityRefCOM	(	const unsigned long	time,
		const std::string &	nameCost,
		const eVector3 &	ref_placement
	)

◆ setVelocityRefFeet()

void sobec::HorizonManager::setVelocityRefFeet	(	const unsigned long	time,
		const std::string &	nameCost,
		const pinocchio::Motion &	ref_velocity
	)

◆ setWrenchReference()

void sobec::HorizonManager::setWrenchReference	(	const unsigned long	time,
		const std::string &	nameCost,
		const eVector6 &	reference
	)

◆ size()

unsigned long sobec::HorizonManager::size ( )

◆ solve()

void sobec::HorizonManager::solve	(	const Eigen::VectorXd &	measured_x,
		const std::size_t	ddpIteration,
		const bool	is_feasible = `false`
	)

◆ state()

boost::shared_ptr< crocoddyl::StateMultibody > sobec::HorizonManager::state ( const unsigned long time )

◆ supportSize()

int sobec::HorizonManager::supportSize ( const unsigned long time )

◆ terminalCosts()

Cost sobec::HorizonManager::terminalCosts ( )

◆ terminaldam()

DAM sobec::HorizonManager::terminaldam ( )

◆ terminaliam()

IAM sobec::HorizonManager::terminaliam ( )

Member Data Documentation

◆ initialized_

bool sobec::HorizonManager::initialized_ = false

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

include/sobec/walk-with-traj/horizon_manager.hpp
src/walk-with-traj/horizon_manager.cpp

Public Member Functions

Public Attributes