momentumopt
Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | List of all members
momentumopt::ContactPlanInterface Class Referenceabstract

This class implements a simple interface to store a sequence of contacts, including its activation and de-activation time, position and orientation of the contact, and a variable (set to 1) indicating if the forces at this contact are subject to friction cone constraints or (set to 2) if not, such as in the case of hands grasping bars. More...

#include <ContactPlanInterface.hpp>

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Public Member Functions

void initialize (const PlannerSetting &planner_setting)
 
virtual void optimize (const DynamicsState &ini_state, const TerrainDescription &terrain)=0
 
void fillDynamicsSequence (const DynamicsState &ini_state, DynamicsSequence &dynamics_sequence)
 
void updateEndeffectorTrajectories (const DynamicsState &ini_state, DynamicsSequence &dynamics_sequence)
 
ContactSequence & contactSequence ()
 
const ContactSequence & contactSequence () const
 
ViapointSequence & viapointSequence ()
 
const ViapointSequence & viapointSequence () const
 

Protected Member Functions

const PlannerSetting & getSetting () const
 

Protected Attributes

TrajectoryGenerator sw_traj_
 
ContactSequence contact_sequence_
 
ViapointSequence viapoint_sequence_
 
const PlannerSetting * planner_setting_
 

Private Member Functions

double mapIdToContactTime (const DynamicsSequence &dyn_sequence, int map_id)
 
int findMakeContactId (const DynamicsSequence &dyn_seq, const int search_start_id, int eff_id)
 
int findBreakContactId (const DynamicsSequence &dyn_seq, const int search_start_id, int eff_id)
 
void findActiveViapoints (Eigen::Vector3d &viapoint_position, int eff_id, int cnt_id)
 
void generateFlightPhase (DynamicsSequence &dyn_seq, int start_id, int end_id, int eff_id, const Eigen::Quaternion< double > &qini, const Eigen::Quaternion< double > &qend)
 

Detailed Description

This class implements a simple interface to store a sequence of contacts, including its activation and de-activation time, position and orientation of the contact, and a variable (set to 1) indicating if the forces at this contact are subject to friction cone constraints or (set to 2) if not, such as in the case of hands grasping bars.

It also fills the corresponding fields of DynamicsState within the DynamicsSequence, namely contact positions, orientations, activations, to be used by the dynamics optimizer.

Member Function Documentation

const PlannerSetting& momentumopt::ContactPlanInterface::getSetting ( ) const
inlineprotected

Getter and setter methods for getting the planner variables

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