Public Member Functions | Public Attributes | Protected Attributes | List of all members
sobec::OCPWalk Class Reference

#include <sobec/walk-without-think/ocp.hpp>

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW OCPWalk (boost::shared_ptr< OCPRobotWrapper > robot, boost::shared_ptr< OCPWalkParams > params, const Eigen::Ref< const Eigen::MatrixXd > contact_pattern)
 
virtual ~OCPWalk ()
 
std::vector< AMA > buildRunningModels ()
 
AMA buildTerminalModel ()
 
void buildSolver ()
 
std::pair< std::vector< Eigen::VectorXd >, std::vector< Eigen::VectorXd > > buildInitialGuess ()
 
void computeReferenceForces ()
 

Public Attributes

boost::shared_ptr< ShootingProblem > problem
 the OCP problem used for solving. More...
 
boost::shared_ptr< SolverFDDP > solver
 the OCP solver. More...
 
boost::shared_ptr< StateMultibody > state
 Keep a direct reference to the terminal state. More...
 
boost::shared_ptr< ActuationModelFloatingBase > actuation
 
std::vector< std::vector< pinocchio::Force > > referenceForces
 
Eigen::MatrixXd contact_pattern
 

Protected Attributes

boost::shared_ptr< OCPWalkParams > params
 
boost::shared_ptr< OCPRobotWrapper > robot
 

Constructor & Destructor Documentation

◆ OCPWalk()

sobec::OCPWalk::OCPWalk ( boost::shared_ptr< OCPRobotWrapper >  robot,
boost::shared_ptr< OCPWalkParams >  params,
const Eigen::Ref< const Eigen::MatrixXd >  contact_pattern 
)
explicit

◆ ~OCPWalk()

virtual sobec::OCPWalk::~OCPWalk ( )
inlinevirtual

Member Function Documentation

◆ buildInitialGuess()

std::pair< std::vector< Eigen::VectorXd >, std::vector< Eigen::VectorXd > > sobec::OCPWalk::buildInitialGuess ( )

◆ buildRunningModels()

std::vector< AMA > sobec::OCPWalk::buildRunningModels ( )

◆ buildSolver()

void sobec::OCPWalk::buildSolver ( )

◆ buildTerminalModel()

AMA sobec::OCPWalk::buildTerminalModel ( )

◆ computeReferenceForces()

void sobec::OCPWalk::computeReferenceForces ( )

Member Data Documentation

◆ actuation

boost::shared_ptr<ActuationModelFloatingBase> sobec::OCPWalk::actuation

◆ contact_pattern

Eigen::MatrixXd sobec::OCPWalk::contact_pattern

◆ params

boost::shared_ptr<OCPWalkParams> sobec::OCPWalk::params
protected

◆ problem

boost::shared_ptr<ShootingProblem> sobec::OCPWalk::problem

the OCP problem used for solving.

◆ referenceForces

std::vector<std::vector<pinocchio::Force> > sobec::OCPWalk::referenceForces

◆ robot

boost::shared_ptr<OCPRobotWrapper> sobec::OCPWalk::robot
protected

◆ solver

boost::shared_ptr<SolverFDDP> sobec::OCPWalk::solver

the OCP solver.

◆ state

boost::shared_ptr<StateMultibody> sobec::OCPWalk::state

Keep a direct reference to the terminal state.

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