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

SLQ for floating base systems without an explicit contact model. The contact constraint is enforced via a cost function. More...

#include <FloatingBaseSLQ.h>

Public Types
typedef FloatingBaseFDSystem< RBDDynamics, false, true >	FBSystem
typedef ct::core::LinearSystem< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	LinearizedSystem
typedef ct::core::SystemLinearizer< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	SystemLinearizer
typedef ct::optcon::iLQGMP< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	iLQG
typedef ct::optcon::iLQGMP< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	iLQGMP
typedef ct::optcon::CostFunctionAnalytical< FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	CostFunction
typedef ct::rbd::TermTaskspace< FBSystem::Kinematics, true, FBSystem::STATE_DIM, FBSystem::CONTROL_DIM >	TaskSpaceTerm
typedef iLQG::StateTrajectory	StateTrajectory

Public Member Functions
	FloatingBaseSLQ (std::shared_ptr< FBSystem > system, const std::string &costFunctionFile, std::shared_ptr< LinearizedSystem > linearizedSystem=nullptr, bool useMP=true)
bool	runIteration (StateTrajectory &stateTrajectory)
ilqg_settings_t	iLQGSettings ()

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const bool	quatIntegration = false
static const bool	eeForcesAreControlInputs = true

Detailed Description

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

SLQ for floating base systems without an explicit contact model. The contact constraint is enforced via a cost function.

Member Typedef Documentation

FBSystem

template<class RBDDynamics >

typedef FloatingBaseFDSystem<RBDDynamics, false, true> ct::rbd::FloatingBaseSLQ< RBDDynamics >::FBSystem

LinearizedSystem

template<class RBDDynamics >

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

SystemLinearizer

template<class RBDDynamics >

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

iLQG

template<class RBDDynamics >

typedef ct::optcon::iLQGMP<FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseSLQ< RBDDynamics >::iLQG

iLQGMP

template<class RBDDynamics >

typedef ct::optcon::iLQGMP<FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseSLQ< RBDDynamics >::iLQGMP

CostFunction

template<class RBDDynamics >

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

TaskSpaceTerm

template<class RBDDynamics >

typedef ct::rbd::TermTaskspace<FBSystem::Kinematics, true, FBSystem::STATE_DIM, FBSystem::CONTROL_DIM> ct::rbd::FloatingBaseSLQ< RBDDynamics >::TaskSpaceTerm

StateTrajectory

template<class RBDDynamics >

typedef iLQG::StateTrajectory ct::rbd::FloatingBaseSLQ< RBDDynamics >::StateTrajectory

Constructor & Destructor Documentation

FloatingBaseSLQ()

template<class RBDDynamics >

ct::rbd::FloatingBaseSLQ< RBDDynamics >::FloatingBaseSLQ ( std::shared_ptr< FBSystem >  system, const std::string &  costFunctionFile, std::shared_ptr< LinearizedSystem >  linearizedSystem = nullptr, bool  useMP = true  )

inline

Member Function Documentation

runIteration()

template<class RBDDynamics >

bool ct::rbd::FloatingBaseSLQ< RBDDynamics >::runIteration ( StateTrajectory &  stateTrajectory )

inline

iLQGSettings()

template<class RBDDynamics >

ilqg_settings_t ct::rbd::FloatingBaseSLQ< RBDDynamics >::iLQGSettings ( )

inline

References i.

Member Data Documentation

quatIntegration

template<class RBDDynamics >

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

static

eeForcesAreControlInputs

template<class RBDDynamics >

const bool ct::rbd::FloatingBaseSLQ< RBDDynamics >::eeForcesAreControlInputs = true

static

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/slq/FloatingBaseSLQ.h