momentumopt
PlannerParams.hpp
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1 
9 #pragma once
10 
11 namespace momentumopt {
12 
14  enum PlannerIntParam {
15  // Planner parameters
16  PlannerIntParam_NumDofs,
17  PlannerIntParam_NumTimesteps,
18  PlannerIntParam_NumViapoints,
19  PlannerIntParam_NumJointViapoints,
20  PlannerIntParam_NumActiveDofs,
21  PlannerIntParam_MaxNumTimeIterations,
22  PlannerIntParam_NumExtendedActiveDofs,
23  PlannerIntParam_NumActiveEndeffectors,
24  PlannerIntParam_MaxKinTrajectoryIterations,
25  PlannerIntParam_MaxKinConvergenceIterations,
26 
27  // Kinematics parameters
28  PlannerIntParam_NumSubsamples,
29  PlannerIntParam_KinDynIterations,
30  };
31 
33  enum PlannerBoolParam {
34  // Planner parameters
35  PlannerBoolParam_IsTimeHorizonFixed,
36  PlannerBoolParam_IsFrictionConeLinear,
37 
38  // Kinematics parameters
39  PlannerBoolParam_DisplayMotion,
40  PlannerBoolParam_LoadKinematics,
41 
42  // Storage information
43  PlannerBoolParam_StoreData,
44 
45  // Solver setting
46  PlannerBoolParam_UseDefaultSolverSetting,
47  };
48 
50  enum PlannerDoubleParam {
51  // Planner parameters
52  PlannerDoubleParam_Gravity,
53  PlannerDoubleParam_TimeStep,
54  PlannerDoubleParam_RobotMass,
55  PlannerDoubleParam_RobotWeight,
56  PlannerDoubleParam_TimeHorizon,
57  PlannerDoubleParam_MinRelHeight,
58  PlannerDoubleParam_MassTimesGravity,
59  PlannerDoubleParam_FrictionCoefficient,
60  PlannerDoubleParam_MaxTimeResidualTolerance,
61  PlannerDoubleParam_MinTimeResidualImprovement,
62 
63  // Optimization weights
64  PlannerDoubleParam_WeightArmTorque,
65  PlannerDoubleParam_WeightLegTorque,
66  PlannerDoubleParam_WeightTimePenalty,
67  PlannerDoubleParam_WeightTimeRegularization,
68 
69  // Kinematics parameters
70  PlannerDoubleParam_FloorHeight,
71  PlannerDoubleParam_KinSlacksPenalty,
72  PlannerDoubleParam_KinIntegrationStep,
73  PlannerDoubleParam_LambdaRegularization,
74  PlannerDoubleParam_KinConvergenceTolerance,
75 
76  //kinematics momentum optimization
77  PlannerDoubleParam_SwingTrajViaZ,
78  PlannerDoubleParam_WeightLinMomentumTracking,
79  PlannerDoubleParam_WeightAngMomentumTracking,
80  PlannerDoubleParam_WeightEndEffContact,
81  PlannerDoubleParam_WeightEndEffTracking,
82  PlannerDoubleParam_PGainEndEffTracking,
83  PlannerDoubleParam_PGainComTracking,
84  PlannerDoubleParam_WeightJointReg,
85  PlannerDoubleParam_PGainOrientationTracking,
86  };
87 
89  enum PlannerStringParam {
90  // Storage information
91  PlannerStringParam_ConfigFile,
92  PlannerStringParam_SaveDynamicsFile,
93  PlannerStringParam_SaveKinematicsFile,
94 
95  // Solver setting
96  PlannerStringParam_DefaultSolverSettingFile,
97  };
98 
100  enum PlannerIntVectorParam {
101  // Kinematics parameters
102  PlannerIntVectorParam_ActiveDofs,
103  PlannerIntVectorParam_ExtendedActiveDofs,
104 
105  };
106 
108  enum PlannerVectorParam {
109  // Dynamics parameters
110  PlannerVectorParam_TimeRange,
111  PlannerVectorParam_TorqueRange,
112  PlannerVectorParam_ExternalForce,
113  PlannerVectorParam_GravityVector,
114  PlannerVectorParam_CenterOfMassMotion,
115  PlannerVectorParam_MaxEndeffectorLengths,
116 
117  // Dynamics optimization weights
118  PlannerVectorParam_WeightArmForce,
119  PlannerVectorParam_WeightLegForce,
120  PlannerVectorParam_WeightArmForceRate,
121  PlannerVectorParam_WeightLegForceRate,
122  PlannerVectorParam_WeightCenterOfMass,
123  PlannerVectorParam_WeightLinearMomentum,
124  PlannerVectorParam_WeightAngularMomentum,
125  PlannerVectorParam_WeightLinearMomentumRate,
126  PlannerVectorParam_WeightAngularMomentumRate,
127  PlannerVectorParam_WeightFinalLinearMomentum,
128  PlannerVectorParam_WeightCenterOfMassViapoint,
129  PlannerVectorParam_WeightFinalAngularMomentum,
130  PlannerVectorParam_WeightDynamicTrackingCenterOfMass,
131  PlannerVectorParam_WeightDynamicTrackingLinearMomentum,
132  PlannerVectorParam_WeightDynamicTrackingAngularMomentum,
133 
134  // Kinematics parameters
135  PlannerVectorParam_MinJointAngles,
136  PlannerVectorParam_MaxJointAngles,
137  PlannerVectorParam_KinematicDefaultJointPositions,
138 
139  // Kinematics optimization weights
140  PlannerVectorParam_WeightJointVelocity,
141  PlannerVectorParam_WeightJointAcceleration,
142  PlannerVectorParam_WeightKinematicTrackingCenterOfMass,
143  PlannerVectorParam_WeightKinematicDefaultJointPositions,
144  PlannerVectorParam_WeightKinematicTrackingLinearMomentum,
145  PlannerVectorParam_WeightKinematicTrackingAngularMomentum,
146  PlannerVectorParam_WeightKinematicTrackingBaseOrientation,
147  PlannerVectorParam_WeightKinematicTrackingLinearMomentumRate,
148  PlannerVectorParam_WeightKinematicTrackingAngularMomentumRate,
149  PlannerVectorParam_WeightKinematicTrackingEndeffectorPosition,
150  PlannerVectorParam_WeightKinematicTrackingNonActiveEndeffectorPosition,
151  };
152 
154  enum PlannerArrayParam {
155  PlannerArrayParam_EndeffectorOffset,
156  PlannerArrayParam_CenterOfPressureRange,
157  };
158 
160  enum PlannerCVectorParam {
161  PlannerCVectorParam_Viapoints,
162  PlannerCVectorParam_JointViapoints,
163  };
164 
165 }
momentumopt::PlannerVectorParam
PlannerVectorParam
Definition: PlannerParams.hpp:108
momentumopt::PlannerIntVectorParam
PlannerIntVectorParam
Definition: PlannerParams.hpp:100
momentumopt::PlannerStringParam
PlannerStringParam
Definition: PlannerParams.hpp:89
momentumopt::PlannerDoubleParam
PlannerDoubleParam
Definition: PlannerParams.hpp:50
momentumopt::PlannerCVectorParam
PlannerCVectorParam
Definition: PlannerParams.hpp:160
momentumopt::PlannerArrayParam
PlannerArrayParam
Definition: PlannerParams.hpp:154
momentumopt::PlannerBoolParam
PlannerBoolParam
Definition: PlannerParams.hpp:33
momentumopt::PlannerIntParam
PlannerIntParam
Definition: PlannerParams.hpp:14