momentumopt
Namespaces | Enumerations
PlannerParams.hpp File Reference
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Namespaces

 momentumopt
 

Enumerations

enum  momentumopt::PlannerIntParam {
  PlannerIntParam_NumDofs, PlannerIntParam_NumTimesteps, PlannerIntParam_NumViapoints, PlannerIntParam_NumJointViapoints,
  PlannerIntParam_NumActiveDofs, PlannerIntParam_MaxNumTimeIterations, PlannerIntParam_NumExtendedActiveDofs, PlannerIntParam_NumActiveEndeffectors,
  PlannerIntParam_MaxKinTrajectoryIterations, PlannerIntParam_MaxKinConvergenceIterations, PlannerIntParam_NumSubsamples, PlannerIntParam_KinDynIterations
}
 
enum  momentumopt::PlannerBoolParam {
  PlannerBoolParam_IsTimeHorizonFixed, PlannerBoolParam_IsFrictionConeLinear, PlannerBoolParam_DisplayMotion, PlannerBoolParam_LoadKinematics,
  PlannerBoolParam_StoreData, PlannerBoolParam_UseDefaultSolverSetting
}
 
enum  momentumopt::PlannerDoubleParam {
  PlannerDoubleParam_Gravity, PlannerDoubleParam_TimeStep, PlannerDoubleParam_RobotMass, PlannerDoubleParam_RobotWeight,
  PlannerDoubleParam_TimeHorizon, PlannerDoubleParam_MinRelHeight, PlannerDoubleParam_MassTimesGravity, PlannerDoubleParam_FrictionCoefficient,
  PlannerDoubleParam_MaxTimeResidualTolerance, PlannerDoubleParam_MinTimeResidualImprovement, PlannerDoubleParam_WeightArmTorque, PlannerDoubleParam_WeightLegTorque,
  PlannerDoubleParam_WeightTimePenalty, PlannerDoubleParam_WeightTimeRegularization, PlannerDoubleParam_FloorHeight, PlannerDoubleParam_KinSlacksPenalty,
  PlannerDoubleParam_KinIntegrationStep, PlannerDoubleParam_LambdaRegularization, PlannerDoubleParam_KinConvergenceTolerance, PlannerDoubleParam_SwingTrajViaZ,
  PlannerDoubleParam_WeightLinMomentumTracking, PlannerDoubleParam_WeightAngMomentumTracking, PlannerDoubleParam_WeightEndEffContact, PlannerDoubleParam_WeightEndEffTracking,
  PlannerDoubleParam_PGainEndEffTracking, PlannerDoubleParam_PGainComTracking, PlannerDoubleParam_WeightJointReg, PlannerDoubleParam_PGainOrientationTracking
}
 
enum  momentumopt::PlannerStringParam { PlannerStringParam_ConfigFile, PlannerStringParam_SaveDynamicsFile, PlannerStringParam_SaveKinematicsFile, PlannerStringParam_DefaultSolverSettingFile }
 
enum  momentumopt::PlannerIntVectorParam { PlannerIntVectorParam_ActiveDofs, PlannerIntVectorParam_ExtendedActiveDofs }
 
enum  momentumopt::PlannerVectorParam {
  PlannerVectorParam_TimeRange, PlannerVectorParam_TorqueRange, PlannerVectorParam_ExternalForce, PlannerVectorParam_GravityVector,
  PlannerVectorParam_CenterOfMassMotion, PlannerVectorParam_MaxEndeffectorLengths, PlannerVectorParam_WeightArmForce, PlannerVectorParam_WeightLegForce,
  PlannerVectorParam_WeightArmForceRate, PlannerVectorParam_WeightLegForceRate, PlannerVectorParam_WeightCenterOfMass, PlannerVectorParam_WeightLinearMomentum,
  PlannerVectorParam_WeightAngularMomentum, PlannerVectorParam_WeightLinearMomentumRate, PlannerVectorParam_WeightAngularMomentumRate, PlannerVectorParam_WeightFinalLinearMomentum,
  PlannerVectorParam_WeightCenterOfMassViapoint, PlannerVectorParam_WeightFinalAngularMomentum, PlannerVectorParam_WeightDynamicTrackingCenterOfMass, PlannerVectorParam_WeightDynamicTrackingLinearMomentum,
  PlannerVectorParam_WeightDynamicTrackingAngularMomentum, PlannerVectorParam_MinJointAngles, PlannerVectorParam_MaxJointAngles, PlannerVectorParam_KinematicDefaultJointPositions,
  PlannerVectorParam_WeightJointVelocity, PlannerVectorParam_WeightJointAcceleration, PlannerVectorParam_WeightKinematicTrackingCenterOfMass, PlannerVectorParam_WeightKinematicDefaultJointPositions,
  PlannerVectorParam_WeightKinematicTrackingLinearMomentum, PlannerVectorParam_WeightKinematicTrackingAngularMomentum, PlannerVectorParam_WeightKinematicTrackingBaseOrientation, PlannerVectorParam_WeightKinematicTrackingLinearMomentumRate,
  PlannerVectorParam_WeightKinematicTrackingAngularMomentumRate, PlannerVectorParam_WeightKinematicTrackingEndeffectorPosition, PlannerVectorParam_WeightKinematicTrackingNonActiveEndeffectorPosition
}
 
enum  momentumopt::PlannerArrayParam { PlannerArrayParam_EndeffectorOffset, PlannerArrayParam_CenterOfPressureRange }
 
enum  momentumopt::PlannerCVectorParam { PlannerCVectorParam_Viapoints, PlannerCVectorParam_JointViapoints }
 

Detailed Description

Author
Brahayam Ponton (braha.nosp@m.yam..nosp@m.ponto.nosp@m.n@tu.nosp@m.ebing.nosp@m.en.m.nosp@m.pg.de)
License:
License BSD-3-Clause
Copyright
Copyright (c) 2019, New York University and Max Planck Gesellschaft.
Date
2019-10-08