16 template <
class FIX_BASE_FD_SYSTEM>
20 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27 static const size_t NJOINTS = FBSystem::NJOINTS;
28 static const size_t STATE_DIM = FBSystem::STATE_DIM;
30 using SCALAR =
typename FBSystem::SCALAR;
57 std::shared_ptr<FBSystem> system = std::shared_ptr<FBSystem>(
new FBSystem),
59 std::shared_ptr<LinearizedSystem> linearizedSystem =
nullptr);
67 std::shared_ptr<FBSystem> system = std::shared_ptr<FBSystem>(
new FBSystem),
69 std::shared_ptr<LinearizedSystem> linearizedSystem =
nullptr);
118 std::shared_ptr<NLOptConSolver>
getSolver();
121 std::shared_ptr<FBSystem> system_;
122 std::shared_ptr<LinearizedSystem> linearizedSystem_;
123 std::shared_ptr<CostFunction> costFunction_;
124 std::shared_ptr<ct::optcon::LinearConstraintContainer<STATE_DIM, CONTROL_DIM, SCALAR>> inputBoxConstraints_;
125 std::shared_ptr<ct::optcon::LinearConstraintContainer<STATE_DIM, CONTROL_DIM, SCALAR>> stateBoxConstraints_;
126 std::shared_ptr<ct::optcon::LinearConstraintContainer<STATE_DIM, CONTROL_DIM, SCALAR>> generalConstraints_;
130 std::shared_ptr<NLOptConSolver> nlocSolver_;
void initializeDirectInterpolation(const RobotState_t &x0, const RobotState_t &xf, const core::Time &tf, const int N, FeedbackMatrix K=FeedbackMatrix::Zero())
initialize fixed-base robot with a directly interpolated state trajectory and corresponding ID torque...
Definition: FixBaseNLOC-impl.h:102
NLOC for fixed base systems without an explicit contact model.
Definition: FixBaseNLOC.h:17
void initialize(const RobotState_t &x0, const core::Time &tf, StateVectorArray x_ref=StateVectorArray(), FeedbackArray u0_fb=FeedbackArray(), ControlVectorArray u0_ff=ControlVectorArray())
Definition: FixBaseNLOC-impl.h:59
const NLOptConSolver::Settings_t & getSettings() const
Definition: FixBaseNLOC-impl.h:220
bool runIteration()
Definition: FixBaseNLOC-impl.h:172
static const size_t NJOINTS
Definition: FixBaseNLOC.h:27
const StateVectorArray & getStateVectorArray()
Definition: FixBaseNLOC-impl.h:213
typename core::StateVector< STATE_DIM, SCALAR > StateVector
Definition: FixBaseNLOC.h:39
std::shared_ptr< NLOptConSolver > getSolver()
Definition: FixBaseNLOC-impl.h:232
static const size_t CONTROL_DIM
Definition: FixBaseNLOC.h:26
void initializeSteadyPose(const RobotState_t &x0, const core::Time &tf, const int N, ControlVector &u_ref, FeedbackMatrix K=FeedbackMatrix::Zero())
initialize fixed-base robot with a steady pose using inverse dynamics torques as feedforward ...
Definition: FixBaseNLOC-impl.h:73
typename FBSystem::SCALAR SCALAR
Definition: FixBaseNLOC.h:30
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const bool eeForcesAreControlInputs
Definition: FixBaseNLOC.h:22
joint acceleration
Definition: JointAcceleration.h:17
FIX_BASE_FD_SYSTEM FBSystem
Definition: FixBaseNLOC.h:24
FixBaseNLOC()=default
default constructor
typename core::FeedbackArray< STATE_DIM, CONTROL_DIM, SCALAR > FeedbackArray
Definition: FixBaseNLOC.h:44
bool verbose
Definition: rbdJITtests.h:15
static const size_t STATE_DIM
Definition: FixBaseNLOC.h:28
typename core::StateVectorArray< STATE_DIM, SCALAR > StateVectorArray
Definition: FixBaseNLOC.h:42
typename core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > StateFeedbackController
Definition: FixBaseNLOC.h:45
const StateFeedbackController & getSolution()
Definition: FixBaseNLOC-impl.h:188
bool solve()
Definition: FixBaseNLOC-impl.h:182
const FeedbackArray & getFeedbackArray()
Definition: FixBaseNLOC-impl.h:200
typename core::ControlVector< CONTROL_DIM, SCALAR > ControlVector
Definition: FixBaseNLOC.h:40
whole fix base robot state, i.e. Joint state, Actuator Dynamics (and fix-base pose) ...
Definition: FixBaseRobotState.h:26
static const size_t ACTUATOR_STATE_DIM
Definition: FixBaseNLOC.h:29
typename core::FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR > FeedbackMatrix
Definition: FixBaseNLOC.h:41
void changeCostFunction(std::shared_ptr< CostFunction > costFunction)
Definition: FixBaseNLOC-impl.h:226
typename core::ControlVectorArray< CONTROL_DIM, SCALAR > ControlVectorArray
Definition: FixBaseNLOC.h:43
const ControlVectorArray & getControlVectorArray()
Definition: FixBaseNLOC-impl.h:207
const core::TimeArray & getTimeArray()
Definition: FixBaseNLOC-impl.h:194