NLOC for fixed base systems without an explicit contact model. More...

#include <FixBaseNLOC.h>

Public Types
using	FBSystem = FIX_BASE_FD_SYSTEM

using	SCALAR = typename FBSystem::SCALAR

using	LinearizedSystem = ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >

using	NLOptConSolver = ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, STATE_DIM/2, STATE_DIM/2, SCALAR >
	@ todo: introduce templates for P_DIM and V_DIM More...

using	RobotState_t = FixBaseRobotState< NJOINTS, ACTUATOR_STATE_DIM, SCALAR >

using	StateVector = typename core::StateVector< STATE_DIM, SCALAR >

using	ControlVector = typename core::ControlVector< CONTROL_DIM, SCALAR >

using	FeedbackMatrix = typename core::FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR >

using	StateVectorArray = typename core::StateVectorArray< STATE_DIM, SCALAR >

using	ControlVectorArray = typename core::ControlVectorArray< CONTROL_DIM, SCALAR >

using	FeedbackArray = typename core::FeedbackArray< STATE_DIM, CONTROL_DIM, SCALAR >

using	StateFeedbackController = typename core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >

using	CostFunction = ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >

using	JointAcceleration_t = JointAcceleration< NJOINTS, SCALAR >

Public Member Functions
	FixBaseNLOC ()=default
	default constructor More...

	FixBaseNLOC (std::shared_ptr< ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >> costFun, const typename NLOptConSolver::Settings_t &nlocSettings, std::shared_ptr< FBSystem > system=std::shared_ptr< FBSystem >(new FBSystem), bool verbose=false, std::shared_ptr< LinearizedSystem > linearizedSystem=nullptr)
	constructor which directly takes a cost function More...

	FixBaseNLOC (std::shared_ptr< ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >> costFun, std::shared_ptr< ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >> inputBoxConstraints, std::shared_ptr< ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >> stateBoxConstraints, std::shared_ptr< ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >> generalConstraints, const typename NLOptConSolver::Settings_t &nlocSettings, std::shared_ptr< FBSystem > system=std::shared_ptr< FBSystem >(new FBSystem), bool verbose=false, std::shared_ptr< LinearizedSystem > linearizedSystem=nullptr)
	constructor which directly takes a cost function and constraints, mind the order of the constraints More...

void	initialize (const RobotState_t &x0, const core::Time &tf, StateVectorArray x_ref=StateVectorArray(), FeedbackArray u0_fb=FeedbackArray(), ControlVectorArray u0_ff=ControlVectorArray())

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 More...

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 torques More...

void	initializeDirectInterpolation (const RobotState_t &x0, const RobotState_t &xf, const core::Time &tf, const int N, ct::core::ControlVectorArray< NJOINTS, SCALAR > &u_array, ct::core::StateVectorArray< STATE_DIM, SCALAR > &x_array, FeedbackMatrix K=FeedbackMatrix::Zero())
	initialize fixed-base robot with a directly interpolated state trajectory and corresponding ID torques More...

bool	runIteration ()

bool	solve ()

const StateFeedbackController &	getSolution ()

const core::TimeArray &	getTimeArray ()

const FeedbackArray &	getFeedbackArray ()

const ControlVectorArray &	getControlVectorArray ()

const StateVectorArray &	getStateVectorArray ()

const NLOptConSolver::Settings_t &	getSettings () const

void	changeCostFunction (std::shared_ptr< CostFunction > costFunction)

std::shared_ptr< NLOptConSolver >	getSolver ()

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const bool	eeForcesAreControlInputs = false

static const size_t	CONTROL_DIM = FBSystem::CONTROL_DIM

static const size_t	NJOINTS = FBSystem::NJOINTS

static const size_t	STATE_DIM = FBSystem::STATE_DIM

static const size_t	ACTUATOR_STATE_DIM = FBSystem::ACTUATOR_STATE_DIM

Detailed Description

template<class FIX_BASE_FD_SYSTEM>
class ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >

NLOC for fixed base systems without an explicit contact model.

Member Typedef Documentation

◆ FBSystem

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::FBSystem = FIX_BASE_FD_SYSTEM

◆ SCALAR

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::SCALAR = typename FBSystem::SCALAR

◆ LinearizedSystem

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::LinearizedSystem = ct::core::LinearSystem<STATE_DIM, CONTROL_DIM, SCALAR>

◆ NLOptConSolver

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::NLOptConSolver = ct::optcon::NLOptConSolver<STATE_DIM, CONTROL_DIM, STATE_DIM / 2, STATE_DIM / 2, SCALAR>

@ todo: introduce templates for P_DIM and V_DIM

◆ RobotState_t

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::RobotState_t = FixBaseRobotState<NJOINTS, ACTUATOR_STATE_DIM, SCALAR>

◆ StateVector

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::StateVector = typename core::StateVector<STATE_DIM, SCALAR>

◆ ControlVector

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::ControlVector = typename core::ControlVector<CONTROL_DIM, SCALAR>

◆ FeedbackMatrix

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::FeedbackMatrix = typename core::FeedbackMatrix<STATE_DIM, CONTROL_DIM, SCALAR>

◆ StateVectorArray

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::StateVectorArray = typename core::StateVectorArray<STATE_DIM, SCALAR>

◆ ControlVectorArray

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::ControlVectorArray = typename core::ControlVectorArray<CONTROL_DIM, SCALAR>

◆ FeedbackArray

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::FeedbackArray = typename core::FeedbackArray<STATE_DIM, CONTROL_DIM, SCALAR>

◆ StateFeedbackController

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::StateFeedbackController = typename core::StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR>

◆ CostFunction

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::CostFunction = ct::optcon::CostFunctionQuadratic<STATE_DIM, CONTROL_DIM, SCALAR>

◆ JointAcceleration_t

template<class FIX_BASE_FD_SYSTEM>

using ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::JointAcceleration_t = JointAcceleration<NJOINTS, SCALAR>

Constructor & Destructor Documentation

◆ FixBaseNLOC() [1/3]

template<class FIX_BASE_FD_SYSTEM>

ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::FixBaseNLOC ( )

default

default constructor

◆ FixBaseNLOC() [2/3]

template<class FIX_BASE_FD_SYSTEM >

ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::FixBaseNLOC	(	std::shared_ptr< ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >>	costFun,
		const typename NLOptConSolver::Settings_t &	nlocSettings,
		std::shared_ptr< FBSystem >	system = `std::shared_ptr<FBSystem>(new FBSystem)`,
		bool	verbose = `false`,
		std::shared_ptr< LinearizedSystem >	linearizedSystem = `nullptr`
	)

constructor which directly takes a cost function

◆ FixBaseNLOC() [3/3]

template<class FIX_BASE_FD_SYSTEM >

ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::FixBaseNLOC	(	std::shared_ptr< ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >>	costFun,
		std::shared_ptr< ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >>	inputBoxConstraints,
		std::shared_ptr< ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >>	stateBoxConstraints,
		std::shared_ptr< ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >>	generalConstraints,
		const typename NLOptConSolver::Settings_t &	nlocSettings,
		std::shared_ptr< FBSystem >	system = `std::shared_ptr<FBSystem>(new FBSystem)`,
		bool	verbose = `false`,
		std::shared_ptr< LinearizedSystem >	linearizedSystem = `nullptr`
	)

constructor which directly takes a cost function and constraints, mind the order of the constraints

Member Function Documentation

◆ initialize()

template<class FIX_BASE_FD_SYSTEM >

void ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initialize	(	const RobotState_t &	x0,
		const core::Time &	tf,
		StateVectorArray	x_ref = `StateVectorArray()`,
		FeedbackArray	u0_fb = `FeedbackArray()`,
		ControlVectorArray	u0_ff = `ControlVectorArray()`
	)

References dt, and ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getSettings().

◆ initializeSteadyPose()

template<class FIX_BASE_FD_SYSTEM >

void ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::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

References ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::ACTUATOR_STATE_DIM, dt, ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getSettings(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector().

◆ initializeDirectInterpolation() [1/2]

template<class FIX_BASE_FD_SYSTEM >

void ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::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 torques

◆ initializeDirectInterpolation() [2/2]

template<class FIX_BASE_FD_SYSTEM >

void ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeDirectInterpolation	(	const RobotState_t &	x0,
		const RobotState_t &	xf,
		const core::Time &	tf,
		const int	N,
		ct::core::ControlVectorArray< NJOINTS, SCALAR > &	u_array,
		ct::core::StateVectorArray< STATE_DIM, SCALAR > &	x_array,
		FeedbackMatrix	K = `FeedbackMatrix::Zero()`
	)

initialize fixed-base robot with a directly interpolated state trajectory and corresponding ID torques

References ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::ACTUATOR_STATE_DIM, ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState(), dt, ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getSettings(), i, ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints(), ct::rbd::JointState< NJOINTS, SCALAR >::toImplementation(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector().

◆ runIteration()

template<class FIX_BASE_FD_SYSTEM >

bool ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::runIteration ( )

◆ solve()

template<class FIX_BASE_FD_SYSTEM >

bool ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::solve ( )

◆ getSolution()

template<class FIX_BASE_FD_SYSTEM >

const FixBaseNLOC< FIX_BASE_FD_SYSTEM >::StateFeedbackController & ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getSolution ( )

◆ getTimeArray()

template<class FIX_BASE_FD_SYSTEM >

const core::TimeArray & ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getTimeArray ( )

◆ getFeedbackArray()

template<class FIX_BASE_FD_SYSTEM >

const FixBaseNLOC< FIX_BASE_FD_SYSTEM >::FeedbackArray & ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getFeedbackArray ( )

◆ getControlVectorArray()

template<class FIX_BASE_FD_SYSTEM >

const FixBaseNLOC< FIX_BASE_FD_SYSTEM >::ControlVectorArray & ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getControlVectorArray ( )

◆ getStateVectorArray()

template<class FIX_BASE_FD_SYSTEM >

const FixBaseNLOC< FIX_BASE_FD_SYSTEM >::StateVectorArray & ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getStateVectorArray ( )

◆ getSettings()

template<class FIX_BASE_FD_SYSTEM >

const FixBaseNLOC< FIX_BASE_FD_SYSTEM >::NLOptConSolver::Settings_t & ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getSettings ( ) const

Referenced by ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initialize(), ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeDirectInterpolation(), and ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeSteadyPose().

◆ changeCostFunction()

template<class FIX_BASE_FD_SYSTEM >

void ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::changeCostFunction ( std::shared_ptr< CostFunction > costFunction )

◆ getSolver()

template<class FIX_BASE_FD_SYSTEM >

std::shared_ptr< typename FixBaseNLOC< FIX_BASE_FD_SYSTEM >::NLOptConSolver > ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::getSolver ( )

Member Data Documentation

◆ eeForcesAreControlInputs

template<class FIX_BASE_FD_SYSTEM>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const bool ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::eeForcesAreControlInputs = false

static

◆ CONTROL_DIM

template<class FIX_BASE_FD_SYSTEM>

const size_t ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::CONTROL_DIM = FBSystem::CONTROL_DIM

static

◆ NJOINTS

template<class FIX_BASE_FD_SYSTEM>

const size_t ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::NJOINTS = FBSystem::NJOINTS

static

◆ STATE_DIM

template<class FIX_BASE_FD_SYSTEM>

const size_t ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::STATE_DIM = FBSystem::STATE_DIM

static

◆ ACTUATOR_STATE_DIM

template<class FIX_BASE_FD_SYSTEM>

const size_t ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::ACTUATOR_STATE_DIM = FBSystem::ACTUATOR_STATE_DIM

static

Referenced by ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeDirectInterpolation(), and ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeSteadyPose().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/nloc/FixBaseNLOC.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/nloc/FixBaseNLOC-impl.h

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<class FIX_BASE_FD_SYSTEM> class ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >

Member Typedef Documentation

◆ FBSystem

◆ SCALAR

◆ LinearizedSystem

◆ NLOptConSolver

◆ RobotState_t

◆ StateVector

◆ ControlVector

◆ FeedbackMatrix

◆ StateVectorArray

◆ ControlVectorArray

◆ FeedbackArray

◆ StateFeedbackController

◆ CostFunction

◆ JointAcceleration_t

Constructor & Destructor Documentation

◆ FixBaseNLOC() [1/3]

◆ FixBaseNLOC() [2/3]

◆ FixBaseNLOC() [3/3]

Member Function Documentation

◆ initialize()

◆ initializeSteadyPose()

◆ initializeDirectInterpolation() [1/2]

◆ initializeDirectInterpolation() [2/2]

◆ runIteration()

◆ solve()

◆ getSolution()

◆ getTimeArray()

◆ getFeedbackArray()

◆ getControlVectorArray()

◆ getStateVectorArray()

◆ getSettings()

◆ changeCostFunction()

◆ getSolver()

Member Data Documentation

◆ eeForcesAreControlInputs

◆ CONTROL_DIM

◆ NJOINTS

◆ STATE_DIM

◆ ACTUATOR_STATE_DIM

template<class FIX_BASE_FD_SYSTEM>
class ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >