sobec::ModelMaker Class Reference

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

Collaboration diagram for sobec::ModelMaker:

Public Member Functions
	ModelMaker ()
	ModelMaker (const ModelMakerSettings &settings, const RobotDesigner &design)
void	initialize (const ModelMakerSettings &settings, const RobotDesigner &design)
AMA	formulateStepTracker (const Support &support=Support::DOUBLE)
AMA	formulateTerminalStepTracker (const Support &support=Support::DOUBLE)
AMA	formulateWWT (const Support &support=Support::DOUBLE, const bool &stairs=false)
AMA	formulateTerminalWWT (const Support &support=Support::DOUBLE, const bool &stairs=false)
AMA	formulatePointingTask ()
std::vector< AMA >	formulateHorizon (const std::vector< Support > &supports, const Experiment &experiment)
std::vector< AMA >	formulateHorizon (const int &T)
ModelMakerSettings &	get_settings ()
void	defineFeetForceTask (Cost &costCollector, const Support &support=Support::DOUBLE)
void	defineFeetContact (Contact &contactCollector, const Support &support=Support::DOUBLE)
void	defineFeetWrenchCost (Cost &costCollector, const Support &support=Support::DOUBLE)
void	defineFeetTracking (Cost &costCollector, const Support &support=Support::DOUBLE)
void	defineFeetTranslation (Cost &costCollector, const Support &support=Support::DOUBLE, const bool &stairs=false)
void	definePostureTask (Cost &costCollector)
void	defineRotationBase (Cost &costCollector)
void	defineActuationTask (Cost &costCollector)
void	defineJointLimits (Cost &costCollector)
void	defineCoPTask (Cost &costCollector, const Support &support=Support::DOUBLE)
void	defineDCMTask (Cost &costCollector, const Support &support=Support::DOUBLE)
void	defineVelFootTask (Cost &costCollector, const Support &support=Support::DOUBLE)
void	defineFeetRotation (Cost &costCollector)
void	defineFeetZRotation (Cost &costCollector)
void	defineFootCollisionTask (Cost &costCollector)
void	defineFlyHighTask (Cost &costCollector, const Support &support=Support::DOUBLE)
void	defineCoMPosition (Cost &costCollector)
void	defineCoMVelocity (Cost &costCollector)
void	defineGripperPlacement (Cost &costCollector)
void	defineGripperVelocity (Cost &costCollector)
boost::shared_ptr< crocoddyl::StateMultibody >	getState ()
void	setState (const boost::shared_ptr< crocoddyl::StateMultibody > &new_state)
boost::shared_ptr< crocoddyl::ActuationModelFloatingBase >	getActuation ()
void	setActuation (const boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > &new_actuation)

Public Attributes
bool	initialized_ = false

Protected Attributes
ModelMakerSettings	settings_
RobotDesigner	designer_
boost::shared_ptr< crocoddyl::StateMultibody >	state_
boost::shared_ptr< crocoddyl::ActuationModelFloatingBase >	actuation_
Eigen::VectorXd	x0_

Constructor & Destructor Documentation

ModelMaker() [1/2]

sobec::ModelMaker::ModelMaker

(

)

ModelMaker() [2/2]

sobec::ModelMaker::ModelMaker	(	const ModelMakerSettings &	settings,
		const RobotDesigner &	design
	)

Member Function Documentation

defineActuationTask()

void sobec::ModelMaker::defineActuationTask

(

Cost &

costCollector

)

defineCoMPosition()

void sobec::ModelMaker::defineCoMPosition

(

Cost &

costCollector

)

defineCoMVelocity()

void sobec::ModelMaker::defineCoMVelocity

(

Cost &

costCollector

)

defineCoPTask()

void sobec::ModelMaker::defineCoPTask	(	Cost &	costCollector,
		const Support &	support = Support::DOUBLE
	)

defineDCMTask()

void sobec::ModelMaker::defineDCMTask	(	Cost &	costCollector,
		const Support &	support = Support::DOUBLE
	)

defineFeetContact()

void sobec::ModelMaker::defineFeetContact	(	Contact &	contactCollector,
		const Support &	support = Support::DOUBLE
	)

defineFeetForceTask()

void sobec::ModelMaker::defineFeetForceTask	(	Cost &	costCollector,
		const Support &	support = Support::DOUBLE
	)

defineFeetRotation()

void sobec::ModelMaker::defineFeetRotation

(

Cost &

costCollector

)

defineFeetTracking()

void sobec::ModelMaker::defineFeetTracking	(	Cost &	costCollector,
		const Support &	support = Support::DOUBLE
	)

defineFeetTranslation()

void sobec::ModelMaker::defineFeetTranslation	(	Cost &	costCollector,
		const Support &	support = Support::DOUBLE,
		const bool &	stairs = false
	)

defineFeetWrenchCost()

void sobec::ModelMaker::defineFeetWrenchCost	(	Cost &	costCollector,
		const Support &	support = Support::DOUBLE
	)

defineFeetZRotation()

void sobec::ModelMaker::defineFeetZRotation

(

Cost &

costCollector

)

defineFlyHighTask()

void sobec::ModelMaker::defineFlyHighTask	(	Cost &	costCollector,
		const Support &	support = Support::DOUBLE
	)

defineFootCollisionTask()

void sobec::ModelMaker::defineFootCollisionTask

(

Cost &

costCollector

)

defineGripperPlacement()

void sobec::ModelMaker::defineGripperPlacement

(

Cost &

costCollector

)

defineGripperVelocity()

void sobec::ModelMaker::defineGripperVelocity

(

Cost &

costCollector

)

defineJointLimits()

void sobec::ModelMaker::defineJointLimits

(

Cost &

costCollector

)

definePostureTask()

void sobec::ModelMaker::definePostureTask

(

Cost &

costCollector

)

defineRotationBase()

void sobec::ModelMaker::defineRotationBase

(

Cost &

costCollector

)

defineVelFootTask()

void sobec::ModelMaker::defineVelFootTask	(	Cost &	costCollector,
		const Support &	support = Support::DOUBLE
	)

formulateHorizon() [1/2]

std::vector< AMA > sobec::ModelMaker::formulateHorizon

(

const int &

T

)

formulateHorizon() [2/2]

std::vector< AMA > sobec::ModelMaker::formulateHorizon	(	const std::vector< Support > &	supports,
		const Experiment &	experiment
	)

formulatePointingTask()

AMA sobec::ModelMaker::formulatePointingTask

(

)

formulateStepTracker()

AMA sobec::ModelMaker::formulateStepTracker

(

const Support &

support = Support::DOUBLE

)

formulateTerminalStepTracker()

AMA sobec::ModelMaker::formulateTerminalStepTracker

(

const Support &

support = Support::DOUBLE

)

formulateTerminalWWT()

AMA sobec::ModelMaker::formulateTerminalWWT	(	const Support &	support = Support::DOUBLE,
		const bool &	stairs = false
	)

formulateWWT()

AMA sobec::ModelMaker::formulateWWT	(	const Support &	support = Support::DOUBLE,
		const bool &	stairs = false
	)

get_settings()

ModelMakerSettings& sobec::ModelMaker::get_settings ( )

inline

getActuation()

boost::shared_ptr<crocoddyl::ActuationModelFloatingBase> sobec::ModelMaker::getActuation ( )

inline

getState()

boost::shared_ptr<crocoddyl::StateMultibody> sobec::ModelMaker::getState ( )

inline

initialize()

void sobec::ModelMaker::initialize	(	const ModelMakerSettings &	settings,
		const RobotDesigner &	design
	)

setActuation()

void sobec::ModelMaker::setActuation ( const boost::shared_ptr< crocoddyl::ActuationModelFloatingBase > &  new_actuation )

inline

setState()

void sobec::ModelMaker::setState ( const boost::shared_ptr< crocoddyl::StateMultibody > &  new_state )

inline

Member Data Documentation

actuation_

boost::shared_ptr<crocoddyl::ActuationModelFloatingBase> sobec::ModelMaker::actuation_

protected

designer_

RobotDesigner sobec::ModelMaker::designer_

protected

initialized_

bool sobec::ModelMaker::initialized_ = false

settings_

ModelMakerSettings sobec::ModelMaker::settings_

protected

state_

boost::shared_ptr<crocoddyl::StateMultibody> sobec::ModelMaker::state_

protected

x0_

Eigen::VectorXd sobec::ModelMaker::x0_

protected

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

• include/sobec/walk-with-traj/model_factory.hpp
• src/walk-with-traj/model_factory.cpp