Public Member Functions | Public Attributes | List of all members
sobec::OCPWalkParams Struct Reference

OCP builder. More...

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

Public Member Functions

void readParamsFromYamlStr (std::string &StringToParse)
 
void readParamsFromYamlFile (const std::string &Filename)
 

Public Attributes

double DT
 
std::vector< std::string > mainJointIds
 
Eigen::Vector2d baumgartGains
 
Eigen::VectorXd stateImportance
 
Eigen::VectorXd stateTerminalImportance
 
Eigen::VectorXd controlImportance
 
Eigen::VectorXd vcomImportance
 
Eigen::VectorXd forceImportance
 
Eigen::Vector3d vcomRef
 
double footSize
 
bool withNormalForceBoundOnly
 
double minimalNormalForce
 
double refStateWeight
 
double refTorqueWeight
 
double comWeight
 
double vcomWeight
 
double copWeight
 
double conePenaltyWeight
 
double coneAxisWeight
 
double refForceWeight
 
double impactAltitudeWeight
 
double impactVelocityWeight
 
double impactRotationWeight
 
double refMainJointsAtImpactWeight
 
double verticalFootVelWeight
 
double flyHighSlope
 
double flyHighWeight
 
double groundColWeight
 
double footMinimalDistance
 
double feetCollisionWeight
 
double kktDamping
 
double stateTerminalWeight
 
double solver_th_stop
 
int transitionDuration
 

Detailed Description

OCP builder.

Member Function Documentation

◆ readParamsFromYamlFile()

void sobec::OCPWalkParams::readParamsFromYamlFile ( const std::string &  Filename)

◆ readParamsFromYamlStr()

void sobec::OCPWalkParams::readParamsFromYamlStr ( std::string &  StringToParse)

Member Data Documentation

◆ baumgartGains

Eigen::Vector2d sobec::OCPWalkParams::baumgartGains

◆ comWeight

double sobec::OCPWalkParams::comWeight

◆ coneAxisWeight

double sobec::OCPWalkParams::coneAxisWeight

◆ conePenaltyWeight

double sobec::OCPWalkParams::conePenaltyWeight

◆ controlImportance

Eigen::VectorXd sobec::OCPWalkParams::controlImportance

◆ copWeight

double sobec::OCPWalkParams::copWeight

◆ DT

double sobec::OCPWalkParams::DT

◆ feetCollisionWeight

double sobec::OCPWalkParams::feetCollisionWeight

◆ flyHighSlope

double sobec::OCPWalkParams::flyHighSlope

◆ flyHighWeight

double sobec::OCPWalkParams::flyHighWeight

◆ footMinimalDistance

double sobec::OCPWalkParams::footMinimalDistance

◆ footSize

double sobec::OCPWalkParams::footSize

◆ forceImportance

Eigen::VectorXd sobec::OCPWalkParams::forceImportance

◆ groundColWeight

double sobec::OCPWalkParams::groundColWeight

◆ impactAltitudeWeight

double sobec::OCPWalkParams::impactAltitudeWeight

◆ impactRotationWeight

double sobec::OCPWalkParams::impactRotationWeight

◆ impactVelocityWeight

double sobec::OCPWalkParams::impactVelocityWeight

◆ kktDamping

double sobec::OCPWalkParams::kktDamping

◆ mainJointIds

std::vector<std::string> sobec::OCPWalkParams::mainJointIds

◆ minimalNormalForce

double sobec::OCPWalkParams::minimalNormalForce

◆ refForceWeight

double sobec::OCPWalkParams::refForceWeight

◆ refMainJointsAtImpactWeight

double sobec::OCPWalkParams::refMainJointsAtImpactWeight

◆ refStateWeight

double sobec::OCPWalkParams::refStateWeight

◆ refTorqueWeight

double sobec::OCPWalkParams::refTorqueWeight

◆ solver_th_stop

double sobec::OCPWalkParams::solver_th_stop

◆ stateImportance

Eigen::VectorXd sobec::OCPWalkParams::stateImportance

◆ stateTerminalImportance

Eigen::VectorXd sobec::OCPWalkParams::stateTerminalImportance

◆ stateTerminalWeight

double sobec::OCPWalkParams::stateTerminalWeight

◆ transitionDuration

int sobec::OCPWalkParams::transitionDuration

◆ vcomImportance

Eigen::VectorXd sobec::OCPWalkParams::vcomImportance

◆ vcomRef

Eigen::Vector3d sobec::OCPWalkParams::vcomRef

◆ vcomWeight

double sobec::OCPWalkParams::vcomWeight

◆ verticalFootVelWeight

double sobec::OCPWalkParams::verticalFootVelWeight

◆ withNormalForceBoundOnly

bool sobec::OCPWalkParams::withNormalForceBoundOnly
The documentation for this struct was generated from the following files: