Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
sobec Namespace Reference

Namespaces

 newcontacts
 
 python
 

Classes

struct  ActivationDataWeightedLogTpl
 
class  ActivationModelQuadRefTpl
 
class  ActivationModelWeightedLogTpl
 
class  Flex
 
struct  FlexSettings
 
class  FootTrajectory
 
class  HorizonManager
 
struct  HorizonManagerSettings
 
class  IntegratedActionDataLPFTpl
 
class  IntegratedActionModelLPFTpl
 
class  ModelMaker
 
struct  ModelMakerSettings
 
class  MPCWalk
 
struct  MPCWalkParams
 MPC manager, calling iterative subpart of a larger OCP. More...
 
class  OCP
 
struct  OCPRobotWrapper
 
struct  OCPSettings
 
class  OCPWalk
 
struct  OCPWalkParams
 OCP builder. More...
 
struct  ResidualData2DSurfaceTpl
 
struct  ResidualDataCenterOfFrictionTpl
 
struct  ResidualDataCenterOfPressureTpl
 
struct  ResidualDataCoMVelocityTpl
 
struct  ResidualDataDCMPositionTpl
 
struct  ResidualDataFeetCollisionTpl
 
struct  ResidualDataFlyAngleTpl
 
struct  ResidualDataFlyHighTpl
 
struct  ResidualDataVelCollisionTpl
 
class  ResidualModel2DSurfaceTpl
 Cost penalizing the position of one effector with respect to the other. More...
 
class  ResidualModelCenterOfFrictionTpl
 Center of friction residual. More...
 
class  ResidualModelCenterOfPressureTpl
 COP residual. More...
 
class  ResidualModelCoMVelocityTpl
 CoM velocity residual. More...
 
class  ResidualModelDCMPositionTpl
 DCM position residual. More...
 
class  ResidualModelFeetCollisionTpl
 Cost penalizing distance between two frames r=||f1.translation-f2.translation||. More...
 
class  ResidualModelFlyAngleTpl
 Cost penalizing high horizontal velocity near zero altitude. More...
 
class  ResidualModelFlyHighTpl
 Cost penalizing high horizontal velocity near zero altitude. More...
 
class  ResidualModelVelCollisionTpl
 
class  RobotDesigner
 
struct  RobotDesignerSettings
 
struct  Spatial
 
class  StateLPFTpl
 
class  WBC
 
class  WBCHorizon
 
struct  WBCHorizonSettings
 
struct  WBCSettings
 

Typedefs

typedef Eigen::Array2d eArray2
 
typedef Eigen::Matrix3d eMatrixRot
 
typedef Eigen::VectorXd eVectorX
 
typedef Eigen::Matrix2d eMatrix2
 
typedef ResidualModelCoMVelocityTpl< double > ResidualModelCoMVelocity
 
typedef ResidualDataCoMVelocityTpl< double > ResidualDataCoMVelocity
 
typedef ResidualModelCenterOfPressureTpl< double > ResidualModelCenterOfPressure
 
typedef ResidualDataCenterOfPressureTpl< double > ResidualDataCenterOfPressure
 
typedef ResidualModelCenterOfFrictionTpl< double > ResidualModelCenterOfFriction
 
typedef ResidualDataCenterOfFrictionTpl< double > ResidualDataCenterOfFriction
 
typedef ResidualModelVelCollisionTpl< double > ResidualModelVelCollision
 
typedef ResidualDataVelCollisionTpl< double > ResidualDataVelCollision
 
typedef ResidualModelFlyAngleTpl< double > ResidualModelFlyAngle
 
typedef ResidualDataFlyAngleTpl< double > ResidualDataFlyAngle
 
typedef ResidualModelFlyHighTpl< double > ResidualModelFlyHigh
 
typedef ResidualDataFlyHighTpl< double > ResidualDataFlyHigh
 
typedef ResidualModelDCMPositionTpl< double > ResidualModelDCMPosition
 
typedef ResidualDataDCMPositionTpl< double > ResidualDataDCMPosition
 
typedef ResidualModelFeetCollisionTpl< double > ResidualModelFeetCollision
 
typedef ResidualDataFeetCollisionTpl< double > ResidualDataFeetCollision
 
typedef ResidualModel2DSurfaceTpl< double > ResidualModel2DSurface
 
typedef ResidualData2DSurfaceTpl< double > ResidualData2DSurface
 
typedef ActivationModelQuadRefTpl< double > ActivationModelQuadRef
 
typedef boost::shared_ptr< ActivationModelQuadRef > ActivationModelQuadRefPtr
 
typedef ActivationModelWeightedLogTpl< double > ActivationModelWeightedLog
 
typedef ActivationDataWeightedLogTpl< double > ActivationDataWeightedLog
 
typedef boost::shared_ptr< ActivationModelWeightedLog > ActivationModelWeightedLogPtr
 
typedef Eigen::Matrix< double, 6, 1 > eVector6
 
typedef Eigen::Matrix< double, 4, 1 > eVector4
 
typedef Eigen::Vector3d eVector3
 
typedef Eigen::Vector2d eVector2
 
typedef boost::shared_ptr< crocoddyl::IntegratedActionModelEuler > IAM
 
typedef boost::shared_ptr< crocoddyl::IntegratedActionDataEuler > IAD
 
typedef boost::shared_ptr< crocoddyl::ActionModelAbstract > AMA
 
typedef boost::shared_ptr< crocoddyl::ActionDataAbstract > ADA
 
typedef boost::shared_ptr< crocoddyl::DifferentialActionModelContactFwdDynamics > DAM
 
typedef boost::shared_ptr< crocoddyl::DifferentialActionDataContactFwdDynamics > DAD
 
typedef boost::shared_ptr< crocoddyl::CostModelSum > Cost
 
typedef boost::shared_ptr< crocoddyl::ContactModelMultiple > Contact
 
typedef boost::shared_ptr< crocoddyl::SolverFDDP > DDP
 
typedef boost::shared_ptr< crocoddyl::ResidualModelFramePlacement > ResidualModelFramePlacementPtr
 
typedef boost::shared_ptr< crocoddyl::ResidualModelContactWrenchCone > ResidualModelContactWrenchConePtr
 
typedef StateLPFTpl< double > StateLPF
 
typedef IntegratedActionModelLPFTpl< double > IntegratedActionModelLPF
 
typedef IntegratedActionDataLPFTpl< double > IntegratedActionDataLPF
 
typedef boost::shared_ptr< crocoddyl::ShootingProblem > ShootingProblemPtr
 
typedef boost::shared_ptr< sobec::MPCWalk > MPCWalkPtr
 
typedef Eigen::Quaternion< double > eQuaternion
 
typedef Eigen::Matrix2d eMatrixRot2d
 
typedef Eigen::AngleAxisd eAngleAxis
 
typedef std::shared_ptr< FootTrajectory > FootTrajectory_ptr
 

Enumerations

enum  Support { LEFT, RIGHT, DOUBLE }
 
enum  Experiment { WALK, WWT, WWT_STAIRS }
 
enum  LocomotionType { WALKING, STANDING }
 
enum  supportSwitch {
  NO_SWITCH, LAND_LF, LAND_RF, TAKEOFF_LF,
  TAKEOFF_RF
}
 

Functions

ShootingProblemPtr initShootingProblem (const char *fileName)
 
MPCWalkPtr initMPCWalk (const char *fileName)
 
bool reprProblem (ShootingProblemPtr problem)
 
Eigen::MatrixXd computeWeightShareSmoothProfile (const Eigen::Ref< const Eigen::MatrixXd > contact_pattern, int duration, double saturation)
 
double compute_required_jerk (const double offset, const double time)
 
double compute_predef_height (const double duration_predef, const double t_middle, const double p_max)
 

Variables

const double EPSILON_TIME = 1e-9
 

Typedef Documentation

◆ ActivationDataWeightedLog

typedef ActivationDataWeightedLogTpl<double> sobec::ActivationDataWeightedLog

◆ ActivationModelQuadRef

typedef ActivationModelQuadRefTpl<double> sobec::ActivationModelQuadRef

◆ ActivationModelQuadRefPtr

typedef boost::shared_ptr<ActivationModelQuadRef> sobec::ActivationModelQuadRefPtr

◆ ActivationModelWeightedLog

typedef ActivationModelWeightedLogTpl<double> sobec::ActivationModelWeightedLog

◆ ActivationModelWeightedLogPtr

typedef boost::shared_ptr<ActivationModelWeightedLog> sobec::ActivationModelWeightedLogPtr

◆ ADA

typedef boost::shared_ptr<crocoddyl::ActionDataAbstract> sobec::ADA

◆ AMA

typedef boost::shared_ptr<crocoddyl::ActionModelAbstract> sobec::AMA

◆ Contact

typedef boost::shared_ptr<crocoddyl::ContactModelMultiple> sobec::Contact

◆ Cost

typedef boost::shared_ptr<crocoddyl::CostModelSum> sobec::Cost

◆ DAD

typedef boost::shared_ptr<crocoddyl::DifferentialActionDataContactFwdDynamics> sobec::DAD

◆ DAM

typedef boost::shared_ptr<crocoddyl::DifferentialActionModelContactFwdDynamics> sobec::DAM

◆ DDP

typedef boost::shared_ptr<crocoddyl::SolverFDDP> sobec::DDP

◆ eAngleAxis

typedef Eigen::AngleAxisd sobec::eAngleAxis

◆ eArray2

typedef Eigen::Array2d sobec::eArray2

◆ eMatrix2

typedef Eigen::Matrix2d sobec::eMatrix2

◆ eMatrixRot

typedef Eigen::Matrix3d sobec::eMatrixRot

◆ eMatrixRot2d

typedef Eigen::Matrix2d sobec::eMatrixRot2d

◆ eQuaternion

typedef Eigen::Quaternion<double> sobec::eQuaternion

◆ eVector2

typedef Eigen::Vector2d sobec::eVector2

◆ eVector3

typedef Eigen::Vector3d sobec::eVector3

◆ eVector4

typedef Eigen::Matrix<double, 4, 1> sobec::eVector4

◆ eVector6

typedef Eigen::Matrix< double, 6, 1 > sobec::eVector6

◆ eVectorX

typedef Eigen::VectorXd sobec::eVectorX

◆ FootTrajectory_ptr

typedef std::shared_ptr<FootTrajectory> sobec::FootTrajectory_ptr

◆ IAD

typedef boost::shared_ptr<crocoddyl::IntegratedActionDataEuler> sobec::IAD

◆ IAM

typedef boost::shared_ptr<crocoddyl::IntegratedActionModelEuler> sobec::IAM

◆ IntegratedActionDataLPF

typedef IntegratedActionDataLPFTpl<double> sobec::IntegratedActionDataLPF

◆ IntegratedActionModelLPF

typedef IntegratedActionModelLPFTpl<double> sobec::IntegratedActionModelLPF

◆ MPCWalkPtr

typedef boost::shared_ptr<sobec::MPCWalk> sobec::MPCWalkPtr

◆ ResidualData2DSurface

typedef ResidualData2DSurfaceTpl<double> sobec::ResidualData2DSurface

◆ ResidualDataCenterOfFriction

typedef ResidualDataCenterOfFrictionTpl<double> sobec::ResidualDataCenterOfFriction

◆ ResidualDataCenterOfPressure

typedef ResidualDataCenterOfPressureTpl<double> sobec::ResidualDataCenterOfPressure

◆ ResidualDataCoMVelocity

typedef ResidualDataCoMVelocityTpl<double> sobec::ResidualDataCoMVelocity

◆ ResidualDataDCMPosition

typedef ResidualDataDCMPositionTpl<double> sobec::ResidualDataDCMPosition

◆ ResidualDataFeetCollision

typedef ResidualDataFeetCollisionTpl<double> sobec::ResidualDataFeetCollision

◆ ResidualDataFlyAngle

typedef ResidualDataFlyAngleTpl<double> sobec::ResidualDataFlyAngle

◆ ResidualDataFlyHigh

typedef ResidualDataFlyHighTpl<double> sobec::ResidualDataFlyHigh

◆ ResidualDataVelCollision

typedef ResidualDataVelCollisionTpl<double> sobec::ResidualDataVelCollision

◆ ResidualModel2DSurface

typedef ResidualModel2DSurfaceTpl<double> sobec::ResidualModel2DSurface

◆ ResidualModelCenterOfFriction

typedef ResidualModelCenterOfFrictionTpl<double> sobec::ResidualModelCenterOfFriction

◆ ResidualModelCenterOfPressure

typedef ResidualModelCenterOfPressureTpl<double> sobec::ResidualModelCenterOfPressure

◆ ResidualModelCoMVelocity

typedef ResidualModelCoMVelocityTpl<double> sobec::ResidualModelCoMVelocity

◆ ResidualModelContactWrenchConePtr

typedef boost::shared_ptr<crocoddyl::ResidualModelContactWrenchCone> sobec::ResidualModelContactWrenchConePtr

◆ ResidualModelDCMPosition

typedef ResidualModelDCMPositionTpl<double> sobec::ResidualModelDCMPosition

◆ ResidualModelFeetCollision

typedef ResidualModelFeetCollisionTpl<double> sobec::ResidualModelFeetCollision

◆ ResidualModelFlyAngle

typedef ResidualModelFlyAngleTpl<double> sobec::ResidualModelFlyAngle

◆ ResidualModelFlyHigh

typedef ResidualModelFlyHighTpl<double> sobec::ResidualModelFlyHigh

◆ ResidualModelFramePlacementPtr

typedef boost::shared_ptr<crocoddyl::ResidualModelFramePlacement> sobec::ResidualModelFramePlacementPtr

◆ ResidualModelVelCollision

typedef ResidualModelVelCollisionTpl<double> sobec::ResidualModelVelCollision

◆ ShootingProblemPtr

typedef boost::shared_ptr<crocoddyl::ShootingProblem> sobec::ShootingProblemPtr

◆ StateLPF

typedef StateLPFTpl<double> sobec::StateLPF

Enumeration Type Documentation

◆ Experiment

enum sobec::Experiment
Enumerator
WALK 
WWT 
WWT_STAIRS 

◆ LocomotionType

enum sobec::LocomotionType
Todo:

: in order to switch between locomotions safely, incorporate a terminal constraint

: bind these enumerations

Enumerator
WALKING 
STANDING 

◆ Support

enum sobec::Support
Enumerator
LEFT 
RIGHT 
DOUBLE 

◆ supportSwitch

enum sobec::supportSwitch
Enumerator
NO_SWITCH 
LAND_LF 
LAND_RF 
TAKEOFF_LF 
TAKEOFF_RF 

Function Documentation

◆ compute_predef_height()

double sobec::compute_predef_height ( const double  duration_predef,
const double  t_middle,
const double  p_max 
)

◆ compute_required_jerk()

double sobec::compute_required_jerk ( const double  offset,
const double  time 
)

◆ computeWeightShareSmoothProfile()

Eigen::MatrixXd sobec::computeWeightShareSmoothProfile ( const Eigen::Ref< const Eigen::MatrixXd >  contact_pattern,
int  duration,
double  saturation 
)

◆ initMPCWalk()

MPCWalkPtr sobec::initMPCWalk ( const char *  fileName)

◆ initShootingProblem()

ShootingProblemPtr sobec::initShootingProblem ( const char *  fileName)

◆ reprProblem()

bool sobec::reprProblem ( ShootingProblemPtr  problem)

Variable Documentation

◆ EPSILON_TIME

const double sobec::EPSILON_TIME = 1e-9