ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics > Class Template Reference

NLOC for floating base systems with an explicit contact model. More...

#include <FloatingBaseNLOCContactModel.h>

Public Types
typedef FloatingBaseFDSystem< RBDDynamics, false, false >	FBSystem
typedef ct::core::LinearSystem< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	LinearizedSystem
typedef ct::rbd::RbdLinearizer< FBSystem >	RBDLinearizer
typedef ct::core::SystemLinearizer< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	SystemLinearizer
typedef ct::optcon::NLOptConSolver< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	NLOptConSolver
typedef core::StateVector< FBSystem::STATE_DIM >	StateVector
typedef core::ControlVector< FBSystem::CONTROL_DIM >	ControlVector
typedef core::FeedbackMatrix< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	FeedbackMatrix
typedef core::StateVectorArray< FBSystem::STATE_DIM >	StateVectorArray
typedef core::ControlVectorArray< FBSystem::CONTROL_DIM >	ControlVectorArray
typedef core::FeedbackArray< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	FeedbackArray
typedef ct::optcon::CostFunctionAnalytical< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	CostFunction

Public Member Functions
	FloatingBaseNLOCContactModel (const std::string &costFunctionFile, const std::string &settingsFile, std::shared_ptr< FBSystem > system=std::shared_ptr< FBSystem >(new FBSystem), std::shared_ptr< LinearizedSystem > linearizedSystem=nullptr)
	constructor taking path to the settings file More...
	FloatingBaseNLOCContactModel (const std::string &costFunctionFile, const typename NLOptConSolver::Settings_t &settings, std::shared_ptr< FBSystem > system=std::shared_ptr< FBSystem >(new FBSystem), std::shared_ptr< LinearizedSystem > linearizedSystem=nullptr)
	constructor taking settings file directly More...
void	initialize (const typename RBDDynamics::RBDState_t &x0, const core::Time &tf, StateVectorArray x_ref=StateVectorArray(), FeedbackArray u0_fb=FeedbackArray(), ControlVectorArray u0_ff=ControlVectorArray())
void	configure (const typename NLOptConSolver::Settings_t &settings)
bool	runIteration ()
const StateVectorArray &	retrieveLastRollout ()
const StateVectorArray &	getStateVectorArray ()
const core::TimeArray &	getTimeArray ()
const FeedbackArray &	getFeedbackArray ()
const ControlVectorArray &	getControlVectorArray ()
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	quatIntegration = false
static const bool	eeForcesAreControlInputs = false

Detailed Description

template<class RBDDynamics>
class ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >

NLOC for floating base systems with an explicit contact model.

Member Typedef Documentation

FBSystem

template<class RBDDynamics >

typedef FloatingBaseFDSystem<RBDDynamics, false, false> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::FBSystem

LinearizedSystem

template<class RBDDynamics >

typedef ct::core::LinearSystem<FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::LinearizedSystem

RBDLinearizer

template<class RBDDynamics >

typedef ct::rbd::RbdLinearizer<FBSystem> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::RBDLinearizer

SystemLinearizer

template<class RBDDynamics >

typedef ct::core::SystemLinearizer<FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::SystemLinearizer

NLOptConSolver

template<class RBDDynamics >

typedef ct::optcon::NLOptConSolver<FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::NLOptConSolver

StateVector

template<class RBDDynamics >

typedef core::StateVector<FBSystem::STATE_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::StateVector

ControlVector

template<class RBDDynamics >

typedef core::ControlVector<FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::ControlVector

FeedbackMatrix

template<class RBDDynamics >

typedef core::FeedbackMatrix<FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::FeedbackMatrix

StateVectorArray

template<class RBDDynamics >

typedef core::StateVectorArray<FBSystem::STATE_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::StateVectorArray

ControlVectorArray

template<class RBDDynamics >

typedef core::ControlVectorArray<FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::ControlVectorArray

FeedbackArray

template<class RBDDynamics >

typedef core::FeedbackArray<FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::FeedbackArray

CostFunction

template<class RBDDynamics >

typedef ct::optcon::CostFunctionAnalytical<FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::CostFunction

Constructor & Destructor Documentation

FloatingBaseNLOCContactModel() [1/2]

template<class RBDDynamics >

ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::FloatingBaseNLOCContactModel	(	const std::string &	costFunctionFile,
		const std::string &	settingsFile,
		std::shared_ptr< FBSystem >	system = std::shared_ptr<FBSystem>(new FBSystem),
		std::shared_ptr< LinearizedSystem >	linearizedSystem = nullptr
	)

constructor taking path to the settings file

FloatingBaseNLOCContactModel() [2/2]

template<class RBDDynamics >

ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::FloatingBaseNLOCContactModel	(	const std::string &	costFunctionFile,
		const typename NLOptConSolver::Settings_t &	settings,
		std::shared_ptr< FBSystem >	system = std::shared_ptr<FBSystem>(new FBSystem),
		std::shared_ptr< LinearizedSystem >	linearizedSystem = nullptr
	)

constructor taking settings file directly

Member Function Documentation

initialize()

template<class RBDDynamics >

void ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::initialize	(	const typename RBDDynamics::RBDState_t &	x0,
		const core::Time &	tf,
		StateVectorArray	x_ref = StateVectorArray(),
		FeedbackArray	u0_fb = FeedbackArray(),
		ControlVectorArray	u0_ff = ControlVectorArray()
	)

References dt, and ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::getSettings().

configure()

template<class RBDDynamics >

void ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::configure

(

const typename NLOptConSolver::Settings_t &

settings

)

runIteration()

template<class RBDDynamics >

bool ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::runIteration

(

)

retrieveLastRollout()

template<class RBDDynamics >

const FloatingBaseNLOCContactModel< RBDDynamics >::StateVectorArray & ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::retrieveLastRollout

(

)

getStateVectorArray()

template<class RBDDynamics >

const FloatingBaseNLOCContactModel< RBDDynamics >::StateVectorArray & ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::getStateVectorArray

(

)

getTimeArray()

template<class RBDDynamics >

const core::TimeArray & ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::getTimeArray

(

)

getFeedbackArray()

template<class RBDDynamics >

const FloatingBaseNLOCContactModel< RBDDynamics >::FeedbackArray & ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::getFeedbackArray

(

)

getControlVectorArray()

template<class RBDDynamics >

const FloatingBaseNLOCContactModel< RBDDynamics >::ControlVectorArray & ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::getControlVectorArray

(

)

getSettings()

template<class RBDDynamics >

const FloatingBaseNLOCContactModel< RBDDynamics >::NLOptConSolver::Settings_t & ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::getSettings

(

)

const

Referenced by ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::initialize().

changeCostFunction()

template<class RBDDynamics >

void ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::changeCostFunction

(

std::shared_ptr< CostFunction >

costFunction

)

getSolver()

template<class RBDDynamics >

std::shared_ptr< typename FloatingBaseNLOCContactModel< RBDDynamics >::NLOptConSolver > ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::getSolver

(

)

Member Data Documentation

quatIntegration

template<class RBDDynamics >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const bool ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::quatIntegration = false

static

eeForcesAreControlInputs

template<class RBDDynamics >

const bool ct::rbd::FloatingBaseNLOCContactModel< RBDDynamics >::eeForcesAreControlInputs = false

static

---

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