anymal_model.h
/tmp/ws/src/towr/towr/include/towr/models/examples/
anymal__model_8h
towr/models/kinematic_model.h
towr/models/single_rigid_body_dynamics.h
towr/models/endeffector_mappings.h
towr::AnymalDynamicModel
towr::AnymalKinematicModel
towr
base_motion_constraint.cc
/tmp/ws/src/towr/towr/src/
base__motion__constraint_8cc
towr/constraints/base_motion_constraint.h
towr/variables/variable_names.h
towr/variables/cartesian_dimensions.h
towr/variables/spline_holder.h
towr
base_motion_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
base__motion__constraint_8h
towr/variables/spline_holder.h
towr/variables/spline.h
time_discretization_constraint.h
towr::BaseMotionConstraint
towr
biped_gait_generator.cc
/tmp/ws/src/towr/towr/src/
biped__gait__generator_8cc
towr/initialization/biped_gait_generator.h
towr/models/endeffector_mappings.h
towr
biped_gait_generator.h
/tmp/ws/src/towr/towr/include/towr/initialization/
biped__gait__generator_8h
gait_generator.h
towr::BipedGaitGenerator
towr
biped_model.h
/tmp/ws/src/towr/towr/include/towr/models/examples/
biped__model_8h
towr/models/kinematic_model.h
towr/models/single_rigid_body_dynamics.h
towr/models/endeffector_mappings.h
towr::BipedDynamicModel
towr::BipedKinematicModel
towr
cartesian_dimensions.h
/tmp/ws/src/towr/towr/include/towr/variables/
cartesian__dimensions_8h
towr
Dim2D
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22
X_
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22aa48e85b666356ba14014d3536d7d3c76
Y_
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22ae61c89de600253b7fc91477fe59a8036
Dim3D
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1ab
X
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba7296aa172d6a26b5e3e902b6eea2cd71
Y
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba3c49225a1786df3372154971a2b84531
Z
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba0dbc36c12672f2b47a0a7e1437c42c96
Dim6D
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1
AX
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a355f87b306764c9c6be5dbbbb2493e1c
AY
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a6412b99c699425165783fbda7fc99f16
AZ
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1aec9ae16c09af83e36aeca46204975b08
LX
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1adecb79d0fec84980cd473a0fa84268ac
LY
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a28b5595514ff769c3fd7ea610c3eb821
LZ
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1add512fe7eb81591d3f5b55abea4ae67c
static Dim2D
To2D
namespacetowr.html
ae6322a84caddb2b6cdcd87a64f75bb26
(Dim3D dim)
static const Dim6D
AllDim6D
namespacetowr.html
a60191bac09e48281aa7dd724f8d68fa5
[]
static constexpr int
k2D
namespacetowr.html
a3e763b542b4de7f794902ab46d6dfe69
static constexpr int
k3D
namespacetowr.html
a3525aa8198bc9d9b12f3a7461874597e
static constexpr int
k6D
namespacetowr.html
abd44e13e224990ecfbb0ea1e3604cfe5
dynamic_constraint.cc
/tmp/ws/src/towr/towr/src/
dynamic__constraint_8cc
towr/constraints/dynamic_constraint.h
towr/variables/variable_names.h
towr/variables/cartesian_dimensions.h
towr
dynamic_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
dynamic__constraint_8h
towr/variables/spline.h
towr/variables/spline_holder.h
towr/variables/euler_converter.h
towr/models/dynamic_model.h
time_discretization_constraint.h
towr::DynamicConstraint
towr
dynamic_constraint_test.cc
/tmp/ws/src/towr/towr/test/
dynamic__constraint__test_8cc
towr/constraints/dynamic_constraint.h
towr
Eigen::VectorXd
VectorXd
namespacetowr.html
a0edeb5b8cd551b3f0d34caa31610bf80
TEST
namespacetowr.html
a697b29a96c19095c36f5e11f2ab1771b
(DynamicConstraintTest, UpdateConstraintValues)
dynamic_model.cc
/tmp/ws/src/towr/towr/src/
dynamic__model_8cc
towr/models/dynamic_model.h
towr
dynamic_model.h
/tmp/ws/src/towr/towr/include/towr/models/
dynamic__model_8h
towr/variables/euler_converter.h
towr::DynamicModel
towr
dynamic_model_test.cc
/tmp/ws/src/towr/towr/test/
dynamic__model__test_8cc
towr/models/single_rigid_body_dynamics.h
towr
TEST
namespacetowr.html
a8f146d1f4a22620244c028ef9a73a9f0
(DynamicModelTest, GetBaseAcceleration)
TEST
namespacetowr.html
a78669bed527ee705b38adc8850fee7c8
(DynamicModelTest, GetJacobianOfAccWrtBase)
TEST
namespacetowr.html
a1b35565b533ccdb1b6892e923d3fb82e
(DynamicModelTest, TestRotations)
endeffector_mappings.h
/tmp/ws/src/towr/towr/include/towr/models/
endeffector__mappings_8h
towr
BipedIDs
namespacetowr.html
abd21c8535a8957867f86270a0e6bece9
L
namespacetowr.html
abd21c8535a8957867f86270a0e6bece9ac43473101800f082959a32167bd54208
R
namespacetowr.html
abd21c8535a8957867f86270a0e6bece9a3f9a8dc03e67d52c7278ddb10160b947
QuadrupedIDs
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65
LF
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65aa1707fa443b4166dd0e986842e5c11ca
RF
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65a560fd5fdad40bf421c81b483134740b9
LH
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65a93c33169c192d84dc66d22ac53463b40
RH
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65ac6642d1a1d33dacca943f8e6a8a279e4
euler_converter.cc
/tmp/ws/src/towr/towr/src/
euler__converter_8cc
towr/variables/euler_converter.h
towr
euler_converter.h
/tmp/ws/src/towr/towr/include/towr/variables/
euler__converter_8h
cartesian_dimensions.h
node_spline.h
towr::EulerConverter
towr
force_constraint.cc
/tmp/ws/src/towr/towr/src/
force__constraint_8cc
towr/constraints/force_constraint.h
towr/variables/variable_names.h
towr
force_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
force__constraint_8h
towr/variables/nodes_variables_phase_based.h
towr/terrain/height_map.h
towr::ForceConstraint
towr
gait_generator.cc
/tmp/ws/src/towr/towr/src/
gait__generator_8cc
towr/initialization/gait_generator.h
towr/initialization/monoped_gait_generator.h
towr/initialization/biped_gait_generator.h
towr/initialization/quadruped_gait_generator.h
towr
gait_generator.h
/tmp/ws/src/towr/towr/include/towr/initialization/
gait__generator_8h
towr::GaitGenerator
towr
height_map.cc
/tmp/ws/src/towr/towr/src/
height__map_8cc
towr/terrain/height_map.h
towr/terrain/examples/height_map_examples.h
towr
height_map.h
/tmp/ws/src/towr/towr/include/towr/terrain/
height__map_8h
towr/variables/cartesian_dimensions.h
towr::HeightMap
towr
static const std::map< HeightMap::TerrainID, std::string >
terrain_names
namespacetowr.html
a261e70e765d5d6c6e5b0db87fa4d202a
height_map_examples.cc
/tmp/ws/src/towr/towr/src/
height__map__examples_8cc
towr/terrain/examples/height_map_examples.h
towr
height_map_examples.h
/tmp/ws/src/towr/towr/include/towr/terrain/examples/
height__map__examples_8h
towr/terrain/height_map.h
towr::Block
towr::Chimney
towr::ChimneyLR
towr::FlatGround
towr::Gap
towr::Slope
towr::Stairs
towr
hopper_example.cc
/tmp/ws/src/towr/towr/test/
hopper__example_8cc
towr/terrain/examples/height_map_examples.h
towr/nlp_formulation.h
int
main
hopper__example_8cc.html
ae66f6b31b5ad750f1fe042a706a4e3d4
()
hyq_model.h
/tmp/ws/src/towr/towr/include/towr/models/examples/
hyq__model_8h
towr/models/kinematic_model.h
towr/models/single_rigid_body_dynamics.h
towr/models/endeffector_mappings.h
towr::HyqDynamicModel
towr::HyqKinematicModel
towr
kinematic_model.h
/tmp/ws/src/towr/towr/include/towr/models/
kinematic__model_8h
towr::KinematicModel
towr
linear_constraint.cc
/tmp/ws/src/towr/towr/src/
linear__constraint_8cc
towr/constraints/linear_constraint.h
towr
linear_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
linear__constraint_8h
towr::LinearEqualityConstraint
towr
mainpage.md
/tmp/ws/src/towr/towr/doc/
mainpage_8md
monoped_gait_generator.cc
/tmp/ws/src/towr/towr/src/
monoped__gait__generator_8cc
towr/initialization/monoped_gait_generator.h
towr
monoped_gait_generator.h
/tmp/ws/src/towr/towr/include/towr/initialization/
monoped__gait__generator_8h
gait_generator.h
towr::MonopedGaitGenerator
towr
monoped_model.h
/tmp/ws/src/towr/towr/include/towr/models/examples/
monoped__model_8h
towr/models/kinematic_model.h
towr/models/single_rigid_body_dynamics.h
towr::MonopedDynamicModel
towr::MonopedKinematicModel
towr
nlp_formulation.cc
/tmp/ws/src/towr/towr/src/
nlp__formulation_8cc
towr/nlp_formulation.h
towr/variables/variable_names.h
towr/variables/phase_durations.h
towr/constraints/base_motion_constraint.h
towr/constraints/dynamic_constraint.h
towr/constraints/force_constraint.h
towr/constraints/range_of_motion_constraint.h
towr/constraints/swing_constraint.h
towr/constraints/terrain_constraint.h
towr/constraints/total_duration_constraint.h
towr/constraints/spline_acc_constraint.h
towr/costs/node_cost.h
towr/variables/nodes_variables_all.h
towr
nlp_formulation.h
/tmp/ws/src/towr/towr/include/towr/
nlp__formulation_8h
towr/variables/spline_holder.h
towr/models/robot_model.h
towr/terrain/height_map.h
towr/parameters.h
towr::NlpFormulation
towr
node_cost.cc
/tmp/ws/src/towr/towr/src/
node__cost_8cc
towr/costs/node_cost.h
towr
node_cost.h
/tmp/ws/src/towr/towr/include/towr/costs/
node__cost_8h
towr/variables/nodes_variables.h
towr::NodeCost
towr
node_spline.cc
/tmp/ws/src/towr/towr/src/
node__spline_8cc
towr/variables/node_spline.h
towr/variables/nodes_variables.h
towr
node_spline.h
/tmp/ws/src/towr/towr/include/towr/variables/
node__spline_8h
spline.h
nodes_observer.h
towr::NodeSpline
towr
nodes_observer.cc
/tmp/ws/src/towr/towr/src/
nodes__observer_8cc
towr/variables/nodes_observer.h
towr/variables/nodes_variables.h
towr
nodes_observer.h
/tmp/ws/src/towr/towr/include/towr/variables/
nodes__observer_8h
towr::NodesObserver
towr
nodes_variables.cc
/tmp/ws/src/towr/towr/src/
nodes__variables_8cc
towr/variables/nodes_variables.h
towr
nodes_variables.h
/tmp/ws/src/towr/towr/include/towr/variables/
nodes__variables_8h
state.h
nodes_observer.h
towr::NodesVariables
towr::NodesVariables::NodeValueInfo
towr
nodes_variables_all.cc
/tmp/ws/src/towr/towr/src/
nodes__variables__all_8cc
towr/variables/nodes_variables_all.h
towr
nodes_variables_all.h
/tmp/ws/src/towr/towr/include/towr/variables/
nodes__variables__all_8h
nodes_variables.h
towr::NodesVariablesAll
towr
nodes_variables_phase_based.cc
/tmp/ws/src/towr/towr/src/
nodes__variables__phase__based_8cc
towr/variables/nodes_variables_phase_based.h
towr/variables/cartesian_dimensions.h
towr
std::vector< NodesVariablesPhaseBased::PolyInfo >
BuildPolyInfos
namespacetowr.html
a5b143da03aeb595b7e2d0e5b80108742
(int phase_count, bool first_phase_constant, int n_polys_in_changing_phase)
nodes_variables_phase_based.h
/tmp/ws/src/towr/towr/include/towr/variables/
nodes__variables__phase__based_8h
nodes_variables.h
towr::NodesVariablesEEForce
towr::NodesVariablesEEMotion
towr::NodesVariablesPhaseBased
towr::NodesVariablesPhaseBased::PolyInfo
towr
parameters.cc
/tmp/ws/src/towr/towr/src/
parameters_8cc
towr/parameters.h
towr/variables/cartesian_dimensions.h
towr
parameters.h
/tmp/ws/src/towr/towr/include/towr/
parameters_8h
towr::Parameters
towr
phase_durations.cc
/tmp/ws/src/towr/towr/src/
phase__durations_8cc
towr/variables/phase_durations.h
towr/variables/variable_names.h
towr/variables/spline.h
towr
phase_durations.h
/tmp/ws/src/towr/towr/include/towr/variables/
phase__durations_8h
phase_durations_observer.h
towr::PhaseDurations
towr
phase_durations_observer.cc
/tmp/ws/src/towr/towr/src/
phase__durations__observer_8cc
towr/variables/phase_durations_observer.h
towr/variables/phase_durations.h
towr
phase_durations_observer.h
/tmp/ws/src/towr/towr/include/towr/variables/
phase__durations__observer_8h
towr::PhaseDurationsObserver
towr
phase_spline.cc
/tmp/ws/src/towr/towr/src/
phase__spline_8cc
towr/variables/phase_spline.h
towr/variables/phase_durations.h
towr
phase_spline.h
/tmp/ws/src/towr/towr/include/towr/variables/
phase__spline_8h
node_spline.h
phase_durations_observer.h
nodes_variables_phase_based.h
towr::PhaseSpline
towr
polynomial.cc
/tmp/ws/src/towr/towr/src/
polynomial_8cc
towr/variables/polynomial.h
towr
polynomial.h
/tmp/ws/src/towr/towr/include/towr/variables/
polynomial_8h
state.h
towr::CubicHermitePolynomial
towr::Polynomial
towr
quadruped_gait_generator.cc
/tmp/ws/src/towr/towr/src/
quadruped__gait__generator_8cc
towr/initialization/quadruped_gait_generator.h
towr/models/endeffector_mappings.h
towr
quadruped_gait_generator.h
/tmp/ws/src/towr/towr/include/towr/initialization/
quadruped__gait__generator_8h
gait_generator.h
towr::QuadrupedGaitGenerator
towr
range_of_motion_constraint.cc
/tmp/ws/src/towr/towr/src/
range__of__motion__constraint_8cc
towr/constraints/range_of_motion_constraint.h
towr/variables/variable_names.h
towr
range_of_motion_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
range__of__motion__constraint_8h
towr/variables/spline.h
towr/variables/spline_holder.h
towr/variables/euler_converter.h
towr/models/kinematic_model.h
time_discretization_constraint.h
towr::RangeOfMotionConstraint
towr
robot_model.cc
/tmp/ws/src/towr/towr/src/
robot__model_8cc
towr/models/robot_model.h
towr/models/examples/monoped_model.h
towr/models/examples/biped_model.h
towr/models/examples/hyq_model.h
towr/models/examples/anymal_model.h
towr
robot_model.h
/tmp/ws/src/towr/towr/include/towr/models/
robot__model_8h
towr/models/dynamic_model.h
towr/models/kinematic_model.h
towr::RobotModel
towr
static const std::map< RobotModel::Robot, std::string >
robot_names
namespacetowr.html
a338a4a07bfb7dc407d4f7c0bbf3fd483
single_rigid_body_dynamics.cc
/tmp/ws/src/towr/towr/src/
single__rigid__body__dynamics_8cc
towr/models/single_rigid_body_dynamics.h
towr/variables/cartesian_dimensions.h
towr
static Eigen::Matrix3d
BuildInertiaTensor
namespacetowr.html
af172c1b6ab15396f6470aea1be58ab23
(double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz)
SingleRigidBodyDynamics::Jac
Cross
namespacetowr.html
acfe315f019bcbdce13e55bd421c45f76
(const Eigen::Vector3d &in)
single_rigid_body_dynamics.h
/tmp/ws/src/towr/towr/include/towr/models/
single__rigid__body__dynamics_8h
dynamic_model.h
towr::SingleRigidBodyDynamics
towr
soft_constraint.cc
/tmp/ws/src/towr/towr/src/
soft__constraint_8cc
towr/costs/soft_constraint.h
towr
soft_constraint.h
/tmp/ws/src/towr/towr/include/towr/costs/
soft__constraint_8h
towr::SoftConstraint
towr
spline.cc
/tmp/ws/src/towr/towr/src/
spline_8cc
towr/variables/spline.h
towr
spline.h
/tmp/ws/src/towr/towr/include/towr/variables/
spline_8h
polynomial.h
towr::Spline
towr
spline_acc_constraint.cc
/tmp/ws/src/towr/towr/src/
spline__acc__constraint_8cc
towr/constraints/spline_acc_constraint.h
towr
spline_acc_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
spline__acc__constraint_8h
towr/variables/node_spline.h
towr::SplineAccConstraint
towr
spline_holder.cc
/tmp/ws/src/towr/towr/src/
spline__holder_8cc
towr/variables/spline_holder.h
towr/variables/phase_spline.h
towr
spline_holder.h
/tmp/ws/src/towr/towr/include/towr/variables/
spline__holder_8h
phase_durations.h
node_spline.h
nodes_variables.h
nodes_variables_phase_based.h
towr::SplineHolder
towr
state.cc
/tmp/ws/src/towr/towr/src/
state_8cc
towr/variables/state.h
towr
state.h
/tmp/ws/src/towr/towr/include/towr/variables/
state_8h
towr::BaseState
towr::Node
towr::State
towr
Dx
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4
kPos
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4abaaf8574a6b8ac2047a89314cd0bcc59
kVel
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4ac5df19accc626a63e47c984c38771135
kAcc
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4a4dd0dbeb9c444e072b85f2ed03ba89bb
kJerk
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4a2743db3a31c3ec85d29f114fb5a31f45
swing_constraint.cc
/tmp/ws/src/towr/towr/src/
swing__constraint_8cc
towr/constraints/swing_constraint.h
towr/variables/cartesian_dimensions.h
towr
swing_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
swing__constraint_8h
towr/variables/nodes_variables_phase_based.h
towr::SwingConstraint
towr
terrain_constraint.cc
/tmp/ws/src/towr/towr/src/
terrain__constraint_8cc
towr/constraints/terrain_constraint.h
towr
terrain_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
terrain__constraint_8h
towr/variables/nodes_variables_phase_based.h
towr/terrain/height_map.h
towr::TerrainConstraint
towr
time_discretization_constraint.cc
/tmp/ws/src/towr/towr/src/
time__discretization__constraint_8cc
towr/constraints/time_discretization_constraint.h
towr
time_discretization_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
time__discretization__constraint_8h
towr::TimeDiscretizationConstraint
towr
total_duration_constraint.cc
/tmp/ws/src/towr/towr/src/
total__duration__constraint_8cc
towr/constraints/total_duration_constraint.h
towr/variables/variable_names.h
towr
total_duration_constraint.h
/tmp/ws/src/towr/towr/include/towr/constraints/
total__duration__constraint_8h
towr/variables/phase_durations.h
towr::TotalDurationConstraint
towr
variable_names.h
/tmp/ws/src/towr/towr/include/towr/variables/
variable__names_8h
towr
towr::id
static std::string
EEForceNodes
namespacetowr_1_1id.html
a0e8c73586112430487e09f8307a9d87b
(uint ee)
static std::string
EEMotionNodes
namespacetowr_1_1id.html
a7726d3fdd457eb524e36c61eade33028
(uint ee)
static std::string
EESchedule
namespacetowr_1_1id.html
a8f80e25273a9c85f3e05f3f279981d66
(uint ee)
static const std::string
base_ang_nodes
namespacetowr_1_1id.html
a406150bbf05b49fa1b585c3793f0f42e
static const std::string
base_lin_nodes
namespacetowr_1_1id.html
a39732e8275916045b97bf469d979d7cb
static const std::string
contact_schedule
namespacetowr_1_1id.html
a20b32623aeb92201988fc1235cabf686
static const std::string
ee_force_nodes
namespacetowr_1_1id.html
a014be77d88ecbe62f9f12c3bf089e4b9
static const std::string
ee_motion_nodes
namespacetowr_1_1id.html
af88549c5b4ba2c4bfc1e0c79d6d42efd
towr::AnymalDynamicModel
classtowr_1_1AnymalDynamicModel.html
towr::SingleRigidBodyDynamics
AnymalDynamicModel
classtowr_1_1AnymalDynamicModel.html
aee1b210ff1d434a881644e597c47bebc
()
towr::AnymalKinematicModel
classtowr_1_1AnymalKinematicModel.html
towr::KinematicModel
AnymalKinematicModel
classtowr_1_1AnymalKinematicModel.html
ae4e30130cd7f54ed8a5364b8c6db2b79
()
towr::BaseMotionConstraint
classtowr_1_1BaseMotionConstraint.html
towr::TimeDiscretizationConstraint
BaseMotionConstraint
classtowr_1_1BaseMotionConstraint.html
a158f7dea8922f9c119d1305723d61fd1
(double T, double dt, const SplineHolder &spline_holder)
void
UpdateBoundsAtInstance
classtowr_1_1BaseMotionConstraint.html
ac13b1328c30f592df416ed2a933315e3
(double t, int k, VecBound &) const override
void
UpdateConstraintAtInstance
classtowr_1_1BaseMotionConstraint.html
ac8c25fd993c3f5935ec744942832add2
(double t, int k, VectorXd &g) const override
void
UpdateJacobianAtInstance
classtowr_1_1BaseMotionConstraint.html
a12c191b934729b511b31282d36639d4b
(double t, int k, std::string, Jacobian &) const override
virtual
~BaseMotionConstraint
classtowr_1_1BaseMotionConstraint.html
a44da8ac8b4b3c088eb9f4022b57d1b70
()=default
int
GetRow
classtowr_1_1BaseMotionConstraint.html
acfac3973534686b4d6d3802db5cf0522
(int node, int dim) const
NodeSpline::Ptr
base_angular_
classtowr_1_1BaseMotionConstraint.html
aba18098cc979f830cf6178cff359284e
NodeSpline::Ptr
base_linear_
classtowr_1_1BaseMotionConstraint.html
a9c4a8ca5d0d8a197c3a54b81ae67c440
VecBound
node_bounds_
classtowr_1_1BaseMotionConstraint.html
ac759aee116249c04fd272726d4b2da25
towr::BaseState
structtowr_1_1BaseState.html
BaseState
structtowr_1_1BaseState.html
a5346f7a5951d9d6686b67ce1a60ea773
()
Node
ang
structtowr_1_1BaseState.html
aee1ef8477d782c6c8e608e70be3dd7d1
Node
lin
structtowr_1_1BaseState.html
a326c821c2b4b5234db2652140ce5540d
towr::BipedDynamicModel
classtowr_1_1BipedDynamicModel.html
towr::SingleRigidBodyDynamics
BipedDynamicModel
classtowr_1_1BipedDynamicModel.html
aa4e4ae8d3276662c895af6d16c5f687d
()
towr::BipedGaitGenerator
classtowr_1_1BipedGaitGenerator.html
towr::GaitGenerator
BipedGaitGenerator
classtowr_1_1BipedGaitGenerator.html
a29164ed5c9f5aa1fd148ae9ccac72d22
()
virtual
~BipedGaitGenerator
classtowr_1_1BipedGaitGenerator.html
a097b2d98edb1790c8d4f750ba672818b
()=default
GaitInfo
GetGait
classtowr_1_1BipedGaitGenerator.html
ab892abbaadac50fef258068e11eaaf39
(Gaits gait) const override
GaitInfo
GetStrideFlight
classtowr_1_1BipedGaitGenerator.html
a2a1c3a552a1a890b6c9853aa10fed2df
() const
GaitInfo
GetStrideGallopHop
classtowr_1_1BipedGaitGenerator.html
a256b5d8052df3af35b2d924203e0b950
() const
GaitInfo
GetStrideHop
classtowr_1_1BipedGaitGenerator.html
afbf7371a12ddbc8c95da01b5634e82e8
() const
GaitInfo
GetStrideLeftHop
classtowr_1_1BipedGaitGenerator.html
a64cd9c640139e9b0140a0fef66e2603f
() const
GaitInfo
GetStrideRightHop
classtowr_1_1BipedGaitGenerator.html
a0fb66c132d0ae51b9b3fca43310a5ff8
() const
GaitInfo
GetStrideRun
classtowr_1_1BipedGaitGenerator.html
ac69bf610ac8deb7aff024d7eb8e022dc
() const
GaitInfo
GetStrideStand
classtowr_1_1BipedGaitGenerator.html
a93ca2b8023354e9ae8f040aed06e9a71
() const
GaitInfo
GetStrideWalk
classtowr_1_1BipedGaitGenerator.html
abe3e6e7d5d7e2b51ffc75404fbaf589b
() const
void
SetCombo
classtowr_1_1BipedGaitGenerator.html
ac6cf73cc49c31b992a948435324f1fc2
(Combos combo) override
ContactState
b_
classtowr_1_1BipedGaitGenerator.html
ab51ea9eabd0d445189c02ffe9539e20e
ContactState
B_
classtowr_1_1BipedGaitGenerator.html
a2f7281d38377ec775052a52c3cbba882
ContactState
I_
classtowr_1_1BipedGaitGenerator.html
acfd8737991493f74244e6cf65951b6d6
ContactState
P_
classtowr_1_1BipedGaitGenerator.html
aa64dcf8d4d9e0210b742ec21e5ad953e
towr::BipedKinematicModel
classtowr_1_1BipedKinematicModel.html
towr::KinematicModel
BipedKinematicModel
classtowr_1_1BipedKinematicModel.html
a749ee36bae26dc1a78eb55a60e61d474
()
towr::Block
classtowr_1_1Block.html
towr::HeightMap
double
GetHeight
classtowr_1_1Block.html
a854c06ab4c9aadb4c8f52cc12ef40ded
(double x, double y) const override
double
GetHeightDerivWrtX
classtowr_1_1Block.html
a0c5bde532e2678bb2c0cb077abfd9b2b
(double x, double y) const override
double
block_start
classtowr_1_1Block.html
a5126c7d9c0534e437aec6f0492be6535
double
eps_
classtowr_1_1Block.html
ab71670ac5bf6866da509bba587c9675f
double
height_
classtowr_1_1Block.html
aa15e12224cc1368331ade18c38489c6b
double
length_
classtowr_1_1Block.html
a8cf0f90e6ea64a9584615236d397e6fb
const double
slope_
classtowr_1_1Block.html
aa05e011e55d9d879e7b64da7bb089856
towr::Chimney
classtowr_1_1Chimney.html
towr::HeightMap
double
GetHeight
classtowr_1_1Chimney.html
af9f300ba16f601905e6eaea625c7e5c0
(double x, double y) const override
double
GetHeightDerivWrtY
classtowr_1_1Chimney.html
a6495515ede133f03016110107c53a31a
(double x, double y) const override
const double
length_
classtowr_1_1Chimney.html
a91644dde5166f557f6fa156716e0d40c
const double
slope_
classtowr_1_1Chimney.html
aae31fe56db98bff05b519054c416db2e
const double
x_end_
classtowr_1_1Chimney.html
a8eb9dbed22c3909d1c8ca92c1f72a3f0
const double
x_start_
classtowr_1_1Chimney.html
a19c104bc55cb614009a71a2a144403dc
const double
y_start_
classtowr_1_1Chimney.html
a7f70bda801d9e4dda54ff644288cc9d6
towr::ChimneyLR
classtowr_1_1ChimneyLR.html
towr::HeightMap
double
GetHeight
classtowr_1_1ChimneyLR.html
a2f30573e649bc8531fea9639ef07cb6f
(double x, double y) const override
double
GetHeightDerivWrtY
classtowr_1_1ChimneyLR.html
a59ae0b7b6b8525c6af88b167c9fe0177
(double x, double y) const override
const double
length_
classtowr_1_1ChimneyLR.html
a59bde047432a6769062a3c56caba9edc
const double
slope_
classtowr_1_1ChimneyLR.html
a001f974ae34392ce24289065531484a8
const double
x_end1_
classtowr_1_1ChimneyLR.html
adf9d690a032b6babe55b2a134b37a99d
const double
x_end2_
classtowr_1_1ChimneyLR.html
aba4aa7fcc5995691605b3eac50633315
const double
x_start_
classtowr_1_1ChimneyLR.html
a2b52c257e0f8b3e48ebf90052cbfe4c6
const double
y_start_
classtowr_1_1ChimneyLR.html
a3b2d7f101e3bd22e967afc2f71529194
towr::CubicHermitePolynomial
classtowr_1_1CubicHermitePolynomial.html
towr::Polynomial
CubicHermitePolynomial
classtowr_1_1CubicHermitePolynomial.html
ac14bb68beb5559c75a21796ff2f8cf2d
(int dim)
VectorXd
GetDerivativeOfPosWrtDuration
classtowr_1_1CubicHermitePolynomial.html
ad07fd303c50697469e1d4576f51d3dd6
(double t) const
double
GetDerivativeWrtEndNode
classtowr_1_1CubicHermitePolynomial.html
ae6b815be87564fa86db384c9c46cede3
(Dx dfdt, Dx node_deriv, double t) const
double
GetDerivativeWrtStartNode
classtowr_1_1CubicHermitePolynomial.html
a648fc33c037c7ff7d3c223e9a558eeb6
(Dx dfdt, Dx node_deriv, double t) const
const double
GetDuration
classtowr_1_1CubicHermitePolynomial.html
af615fab32bf20c1d0778a63aac069c5a
() const
void
SetDuration
classtowr_1_1CubicHermitePolynomial.html
ab6b6b628205b17cf5a08fecb88117ce7
(double duration)
void
SetNodes
classtowr_1_1CubicHermitePolynomial.html
a9d0dccf37b1b703560bc03090c27a501
(const Node &n0, const Node &n1)
void
UpdateCoeff
classtowr_1_1CubicHermitePolynomial.html
a4288b1e76c06ab4032ea23cd51e11482
()
virtual
~CubicHermitePolynomial
classtowr_1_1CubicHermitePolynomial.html
a938d0484f7d180524cf99105cafa64d4
()=default
double
GetDerivativeOfAccWrtEndNode
classtowr_1_1CubicHermitePolynomial.html
aa843b232724078794b28fdd7b67280a2
(Dx node_deriv, double t_local) const
double
GetDerivativeOfAccWrtStartNode
classtowr_1_1CubicHermitePolynomial.html
a283cb7701e1525168c13bcac8f3ac6a2
(Dx node_deriv, double t_local) const
double
GetDerivativeOfPosWrtEndNode
classtowr_1_1CubicHermitePolynomial.html
a191299c3d5f4e448a646dad6228c8ff3
(Dx node_deriv, double t_local) const
double
GetDerivativeOfPosWrtStartNode
classtowr_1_1CubicHermitePolynomial.html
afbad4e583e9646569b98a48f8b168c4e
(Dx node_deriv, double t_local) const
double
GetDerivativeOfVelWrtEndNode
classtowr_1_1CubicHermitePolynomial.html
a5e15997703485be9636ba475802f6de0
(Dx node_deriv, double t_local) const
double
GetDerivativeOfVelWrtStartNode
classtowr_1_1CubicHermitePolynomial.html
a60bd8b26e04208a6a5e53a2460c8e015
(Dx node_deriv, double t_local) const
Node
n0_
classtowr_1_1CubicHermitePolynomial.html
ad7422e8e9684223888459ee38b6cde69
Node
n1_
classtowr_1_1CubicHermitePolynomial.html
ac0503fb4bf0a3251c5c3d501ff7a0556
double
T_
classtowr_1_1CubicHermitePolynomial.html
a1766a336c0dfd904d4af2b0e13f0227c
towr::DynamicConstraint
classtowr_1_1DynamicConstraint.html
towr::TimeDiscretizationConstraint
Eigen::Matrix< double, 6, 1 >
Vector6d
classtowr_1_1DynamicConstraint.html
a1cc60222fb410a32a7697474b5dcd1e4
DynamicConstraint
classtowr_1_1DynamicConstraint.html
a347b0f704468d7390fd350201d99bf56
(const DynamicModel::Ptr &model, double T, double dt, const SplineHolder &spline_holder)
virtual
~DynamicConstraint
classtowr_1_1DynamicConstraint.html
a8a75ea170ed11e6662555e1a4417594a
()=default
int
GetRow
classtowr_1_1DynamicConstraint.html
a92f22b91d77634622e70d05d6b3fcae6
(int k, Dim6D dimension) const
void
UpdateBoundsAtInstance
classtowr_1_1DynamicConstraint.html
a68ed248eff675705011e071cc06f0699
(double t, int k, VecBound &bounds) const override
void
UpdateConstraintAtInstance
classtowr_1_1DynamicConstraint.html
a2f6ef47338ab40774a09ad037f3aba24
(double t, int k, VectorXd &g) const override
void
UpdateJacobianAtInstance
classtowr_1_1DynamicConstraint.html
a66250296175d9fcb327c9659c81b22e0
(double t, int k, std::string, Jacobian &) const override
void
UpdateModel
classtowr_1_1DynamicConstraint.html
a1647aff6f83f2f35a6f43de25b76b39d
(double t) const
EulerConverter
base_angular_
classtowr_1_1DynamicConstraint.html
a629ac0c29cd54c072c37112482ee1108
NodeSpline::Ptr
base_linear_
classtowr_1_1DynamicConstraint.html
a3a74f1fa8cb694e42680d68e3a7ffbba
std::vector< NodeSpline::Ptr >
ee_forces_
classtowr_1_1DynamicConstraint.html
ad41a91fdd13577e4e1b86e2f1cb1256f
std::vector< NodeSpline::Ptr >
ee_motion_
classtowr_1_1DynamicConstraint.html
a2aa89584df1f43ed111b2b14717e26b6
DynamicModel::Ptr
model_
classtowr_1_1DynamicConstraint.html
a3ff3d0325f02a492966e57cf3e266131
towr::DynamicModel
classtowr_1_1DynamicModel.html
Eigen::Vector3d
AngVel
classtowr_1_1DynamicModel.html
a252c771aad53ea81c4bc93d9225f6c26
Eigen::Matrix< double, 6, 1 >
BaseAcc
classtowr_1_1DynamicModel.html
a93bf7945bc7863d13494461be898815a
Eigen::Vector3d
ComPos
classtowr_1_1DynamicModel.html
ab2c9965284b988eefdef4469365b21e7
uint
EE
classtowr_1_1DynamicModel.html
ac543aaff45c12c1d23ef9a85630a9fc6
EEPos
EELoad
classtowr_1_1DynamicModel.html
a66de14c56b11f569b29a879e1d0e1b03
std::vector< Eigen::Vector3d >
EEPos
classtowr_1_1DynamicModel.html
ac0ae1a09a4b32e1c66849f2cb602a32f
Eigen::SparseMatrix< double, Eigen::RowMajor >
Jac
classtowr_1_1DynamicModel.html
ad0c799c29d4dcfd663b8c70fc48325e0
Eigen::Matrix3d
Matrix3d
classtowr_1_1DynamicModel.html
aae7dc2ab879b3eb1f4a3b75d7c3b5beb
std::shared_ptr< DynamicModel >
Ptr
classtowr_1_1DynamicModel.html
a02f0063772f66184da4d74a8a4843627
Eigen::Vector3d
Vector3d
classtowr_1_1DynamicModel.html
af6186882e64316f29d625ee0a7c99e7b
double
g
classtowr_1_1DynamicModel.html
a11af83ee341e384a3fa23e3e3152f853
() const
virtual BaseAcc
GetDynamicViolation
classtowr_1_1DynamicModel.html
a4074694d392d9e45dc35b643fb47e2bf
() const =0
int
GetEECount
classtowr_1_1DynamicModel.html
ac59919742961fd4e28c01da2406febde
() const
virtual Jac
GetJacobianWrtBaseAng
classtowr_1_1DynamicModel.html
a618e8a4a51c1eecd9f7e80a22bf776e0
(const EulerConverter &base_angular, double t) const =0
virtual Jac
GetJacobianWrtBaseLin
classtowr_1_1DynamicModel.html
ac0f6a246b4dadd3ee458a39e7d624c17
(const Jac &jac_base_lin_pos, const Jac &jac_base_lin_acc) const =0
virtual Jac
GetJacobianWrtEEPos
classtowr_1_1DynamicModel.html
ada767f5f7891a48bb416b933a0adf91f
(const Jac &ee_pos, EE ee) const =0
virtual Jac
GetJacobianWrtForce
classtowr_1_1DynamicModel.html
a2afbd9ddf8e41f7b3186e61a700f7de1
(const Jac &ee_force, EE ee) const =0
double
m
classtowr_1_1DynamicModel.html
a987518cff2f6870521d3855322c3e61d
() const
void
SetCurrent
classtowr_1_1DynamicModel.html
acc53dd82023029c7125467b03d73e51d
(const ComPos &com_W, const Vector3d com_acc_W, const Matrix3d &w_R_b, const AngVel &omega_W, const Vector3d &omega_dot_W, const EELoad &force_W, const EEPos &pos_W)
DynamicModel
classtowr_1_1DynamicModel.html
a3197895cb65a0b35c3005852e2eb3716
(double mass, int ee_count)
virtual
~DynamicModel
classtowr_1_1DynamicModel.html
aaf7988c0f0ea3890dbd4ed5bc6452c02
()=default
Vector3d
com_acc_
classtowr_1_1DynamicModel.html
a16e26eb872243a1bf277eed8d2cf93aa
ComPos
com_pos_
classtowr_1_1DynamicModel.html
ade1625040da2e32d641bdd223907db7d
EELoad
ee_force_
classtowr_1_1DynamicModel.html
aba6d6df85b5eb2378f39f803dd44828e
EEPos
ee_pos_
classtowr_1_1DynamicModel.html
a45e8c0ff85352b16ab8cfe4843d16b2a
AngVel
omega_
classtowr_1_1DynamicModel.html
a5bbea43d66d38f592796e3753cd3b8a1
Vector3d
omega_dot_
classtowr_1_1DynamicModel.html
a05b0fa0fea718eee12ef6babf9b56e71
Matrix3d
w_R_b_
classtowr_1_1DynamicModel.html
a08a6a78834c2e44ff9c6fddf73a37390
double
g_
classtowr_1_1DynamicModel.html
a50e5fb07fd8473ad9df7fc7e2c6487cf
double
m_
classtowr_1_1DynamicModel.html
a5f3398d4d7cd334d6942a0cbed1af338
towr::EulerConverter
classtowr_1_1EulerConverter.html
Vector3d
EulerAngles
classtowr_1_1EulerConverter.html
ac421a6f1324c21290c30c5862ebf8678
Vector3d
EulerRates
classtowr_1_1EulerConverter.html
a352df00b870ddeeba19489e78df6ce9d
MatrixSXd
Jacobian
classtowr_1_1EulerConverter.html
a4f0bcd7c07525fd7fef83651d85a7fa0
Eigen::SparseVector< double, Eigen::RowMajor >
JacobianRow
classtowr_1_1EulerConverter.html
a596dcefca26677e8fb60f86a04ca1a32
std::array< std::array< JacobianRow, k3D >, k3D >
JacRowMatrix
classtowr_1_1EulerConverter.html
ae1680c91650dd0ded51055a730405281
Eigen::SparseMatrix< double, Eigen::RowMajor >
MatrixSXd
classtowr_1_1EulerConverter.html
a848a0fb94446635efb3d9b1639365f48
Eigen::Vector3d
Vector3d
classtowr_1_1EulerConverter.html
a4a4a0e40ddee227eb2c9bbccd0c24d12
Jacobian
DerivOfRotVecMult
classtowr_1_1EulerConverter.html
a9afda84532555614e9a942943bd0bbf7
(double t, const Vector3d &v, bool inverse) const
EulerConverter
classtowr_1_1EulerConverter.html
aeaa13d546c76354baa94dcd08083c381
()=default
EulerConverter
classtowr_1_1EulerConverter.html
ab853ee880523a9f4389879ee5c96ae85
(const NodeSpline::Ptr &euler_angles)
Vector3d
GetAngularAccelerationInWorld
classtowr_1_1EulerConverter.html
a96f27d3630b518de4c15389b4137eac0
(double t) const
Vector3d
GetAngularVelocityInWorld
classtowr_1_1EulerConverter.html
aa99fca83442bd806f17cc0e6535a3f69
(double t) const
Jacobian
GetDerivOfAngAccWrtEulerNodes
classtowr_1_1EulerConverter.html
a7afa2d62061bbfa41d8ccd8cce99e098
(double t) const
Jacobian
GetDerivOfAngVelWrtEulerNodes
classtowr_1_1EulerConverter.html
af7bcadd5e40ba6f425a937eee7d4ade2
(double t) const
Eigen::Quaterniond
GetQuaternionBaseToWorld
classtowr_1_1EulerConverter.html
a534173862ee8f6178233f4ee88a000af
(double t) const
MatrixSXd
GetRotationMatrixBaseToWorld
classtowr_1_1EulerConverter.html
a023c10d2758cc73dcea54f1fbdc25058
(double t) const
virtual
~EulerConverter
classtowr_1_1EulerConverter.html
aa6f8a6beef894975b4b050bd7f681ebc
()=default
static Eigen::Quaterniond
GetQuaternionBaseToWorld
classtowr_1_1EulerConverter.html
a94e0f184121709968277374bbe3a89e5
(const EulerAngles &pos)
static MatrixSXd
GetRotationMatrixBaseToWorld
classtowr_1_1EulerConverter.html
aa813f47a4632c50a599ee8a4077f2094
(const EulerAngles &xyz)
JacRowMatrix
GetDerivativeOfRotationMatrixWrtNodes
classtowr_1_1EulerConverter.html
a97eaf54614c8f0e549d10b5193a0b7e9
(double t) const
Jacobian
GetDerivMdotwrtNodes
classtowr_1_1EulerConverter.html
a48c425969e7a1500451ddbba7fb7ba94
(double t, Dim3D dim) const
Jacobian
GetDerivMwrtNodes
classtowr_1_1EulerConverter.html
adba5db1c237153826b887c7bbb298581
(double t, Dim3D dim) const
JacobianRow
GetJac
classtowr_1_1EulerConverter.html
a13847a2c5b76c849dd60f7e64cf862cc
(double t, Dx deriv, Dim3D dim) const
static Vector3d
GetAngularAccelerationInWorld
classtowr_1_1EulerConverter.html
a87234afd0ced0532d18a989618418b27
(State euler)
static Vector3d
GetAngularVelocityInWorld
classtowr_1_1EulerConverter.html
a0a6961ae165215a4a52c5c784274062d
(const EulerAngles &pos, const EulerRates &vel)
static MatrixSXd
GetM
classtowr_1_1EulerConverter.html
ac59ec5151af6e5dcba88d2dce4a5fc6f
(const EulerAngles &xyz)
static MatrixSXd
GetMdot
classtowr_1_1EulerConverter.html
acc1c90c7ebd490ef1feebfc990370104
(const EulerAngles &xyz, const EulerRates &xyz_d)
NodeSpline::Ptr
euler_
classtowr_1_1EulerConverter.html
a18cf187ca72bed410a73b417e7b27928
Jacobian
jac_wrt_nodes_structure_
classtowr_1_1EulerConverter.html
a413fc72af723e041edc45b9884426519
towr::FlatGround
classtowr_1_1FlatGround.html
towr::HeightMap
FlatGround
classtowr_1_1FlatGround.html
aa42535749b5516dcc147b4feaf498ba6
(double height=0.0)
double
GetHeight
classtowr_1_1FlatGround.html
a92d98e986dd00ec1a09ae32cc958e2ac
(double x, double y) const override
double
height_
classtowr_1_1FlatGround.html
ab1c906dbf634a2eef3905606c84829e3
towr::ForceConstraint
classtowr_1_1ForceConstraint.html
ifopt::ConstraintSet
uint
EE
classtowr_1_1ForceConstraint.html
abbef70cc73746c26745254b3764e15aa
Eigen::Vector3d
Vector3d
classtowr_1_1ForceConstraint.html
a8f874e4fca442aa3c605cf86733fd5d5
void
FillJacobianBlock
classtowr_1_1ForceConstraint.html
adae69f538914ab406eb1a952d49547b6
(std::string var_set, Jacobian &) const override
ForceConstraint
classtowr_1_1ForceConstraint.html
a24c3d50708793321f04e8492b8c76d99
(const HeightMap::Ptr &terrain, double force_limit_in_normal_direction, EE endeffector_id)
VecBound
GetBounds
classtowr_1_1ForceConstraint.html
a5197549b471d34d659e7dbd55df897fc
() const override
VectorXd
GetValues
classtowr_1_1ForceConstraint.html
ae8b3fab88cbca0d73ccf7d9ceeaf5325
() const override
void
InitVariableDependedQuantities
classtowr_1_1ForceConstraint.html
acb20faaa1b57305483fcc2e492f9b16d
(const VariablesPtr &x) override
virtual
~ForceConstraint
classtowr_1_1ForceConstraint.html
aeaa6eaea44097b4c9060fd99d3edc813
()=default
EE
ee_
classtowr_1_1ForceConstraint.html
a01d9eb29030a03fa9432d42011907d01
NodesVariablesPhaseBased::Ptr
ee_force_
classtowr_1_1ForceConstraint.html
af1e4a12a708f91901a2c774de3c6669f
NodesVariablesPhaseBased::Ptr
ee_motion_
classtowr_1_1ForceConstraint.html
af324026d6dabed1870a4495ddf75122e
double
fn_max_
classtowr_1_1ForceConstraint.html
a88c423d3914562ff5b11a999337cfdff
double
mu_
classtowr_1_1ForceConstraint.html
a3bcca6a86cb88c67e55a8aca97b59368
int
n_constraints_per_node_
classtowr_1_1ForceConstraint.html
ab5432f121f28e9c9448571f1f1119bb0
std::vector< int >
pure_stance_force_node_ids_
classtowr_1_1ForceConstraint.html
ac7fada1cde4595449e3792be7b4a9578
HeightMap::Ptr
terrain_
classtowr_1_1ForceConstraint.html
a38818410279519729af7c9ca061e7a89
towr::GaitGenerator
classtowr_1_1GaitGenerator.html
C0
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0a2eba5fc3cdda0b030dbf0d233059a40e
C1
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0a79e94c2449fb8d8caa37af43c6b3ebf5
C2
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0a202c3abe02d8c5476d2f489ecfa906bc
C3
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0af6db4aad2202d2f7ba54f336cfaf3053
C4
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0ae4fc4194cdb59b123e2a76b32a50d37d
COMBO_COUNT
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0a193329476b0e8f9c112eaf2faa8d3d11
Combos
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0
C0
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0a2eba5fc3cdda0b030dbf0d233059a40e
C1
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0a79e94c2449fb8d8caa37af43c6b3ebf5
C2
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0a202c3abe02d8c5476d2f489ecfa906bc
C3
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0af6db4aad2202d2f7ba54f336cfaf3053
C4
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0ae4fc4194cdb59b123e2a76b32a50d37d
COMBO_COUNT
classtowr_1_1GaitGenerator.html
af9669c928c3d749c9db8dbec38473ca0a193329476b0e8f9c112eaf2faa8d3d11
std::vector< bool >
ContactState
classtowr_1_1GaitGenerator.html
a5a290b29719176e1f5504778c2bda762
uint
EE
classtowr_1_1GaitGenerator.html
a914f4b43b23de195ef8473984a0c4bdb
Flight
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5aa7daccf1ef78d8307913be07709061ec
std::vector< VecTimes >
FootDurations
classtowr_1_1GaitGenerator.html
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GAIT_COUNT
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ab55dba04b28d140b5d18fe5dd64e7824
std::pair< VecTimes, std::vector< ContactState >>
GaitInfo
classtowr_1_1GaitGenerator.html
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Gaits
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5
Stand
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a3d0ebc9983e4987fefc86ecc77da8bba
Flight
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5aa7daccf1ef78d8307913be07709061ec
Walk1
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5acfdb543702d5f06626797d0450042773
Walk2
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5abd4d47f7ec467689e8e348de4d6cacfe
Walk2E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ade1891155a3db4e0fcb18a37f7aa00d2
Run2
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ad082c0716ded8e5f4d1b09e2ef937a85
Run2E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a6abc746e86fdedf0fe6c6859c59a4b85
Run1
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a49c3d1dfe10262515b9e6560f94fe80a
Run1E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a27a9920bc7158b94979d2eaefd7c8eeb
Run3
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a8a08cc7faa42c564100670723517a8ef
Run3E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a07c1529b92e6abd8d1e18383d2577767
Hop1
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ac5ba90d819f2d5f00ce5d87574f05406
Hop1E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a1b6b109c0bf7f9746c9ccffabe42c2b2
Hop2
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5aab2270413f68d2fe65025df8abaa8ec7
Hop3
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ae2385e5f82f7cb6669aa539f8427947b
Hop3E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ac836095690df2d114bd01f01d4519aab
Hop5
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5aee438c971c23a9aaf5b57ab57919970c
Hop5E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a14841cc176c62b573eb843a77403a9fe
GAIT_COUNT
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ab55dba04b28d140b5d18fe5dd64e7824
Hop1
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ac5ba90d819f2d5f00ce5d87574f05406
Hop1E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a1b6b109c0bf7f9746c9ccffabe42c2b2
Hop2
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5aab2270413f68d2fe65025df8abaa8ec7
Hop3
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ae2385e5f82f7cb6669aa539f8427947b
Hop3E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ac836095690df2d114bd01f01d4519aab
Hop5
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5aee438c971c23a9aaf5b57ab57919970c
Hop5E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a14841cc176c62b573eb843a77403a9fe
std::shared_ptr< GaitGenerator >
Ptr
classtowr_1_1GaitGenerator.html
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Run1
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a49c3d1dfe10262515b9e6560f94fe80a
Run1E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a27a9920bc7158b94979d2eaefd7c8eeb
Run2
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ad082c0716ded8e5f4d1b09e2ef937a85
Run2E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a6abc746e86fdedf0fe6c6859c59a4b85
Run3
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a8a08cc7faa42c564100670723517a8ef
Run3E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a07c1529b92e6abd8d1e18383d2577767
Stand
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5a3d0ebc9983e4987fefc86ecc77da8bba
std::vector< double >
VecTimes
classtowr_1_1GaitGenerator.html
aba5862af896a4ab55766e3adbaf94515
Walk1
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5acfdb543702d5f06626797d0450042773
Walk2
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5abd4d47f7ec467689e8e348de4d6cacfe
Walk2E
classtowr_1_1GaitGenerator.html
a9098e6f800a6a8e1bd9620fd1c36f0c5ade1891155a3db4e0fcb18a37f7aa00d2
GaitGenerator
classtowr_1_1GaitGenerator.html
a2d3c23035d49cef0ccf6e46f54057516
()=default
VecTimes
GetPhaseDurations
classtowr_1_1GaitGenerator.html
a50350f6c097b827dd1b4049dda140b7c
(double T, EE ee) const
bool
IsInContactAtStart
classtowr_1_1GaitGenerator.html
aa45d59ced4068a062eca59f6eddb1d62
(EE ee) const
virtual void
SetCombo
classtowr_1_1GaitGenerator.html
aabf7f475be7da8c6dc6bb8487d77f857
(Combos combo)=0
void
SetGaits
classtowr_1_1GaitGenerator.html
a96babe52e18034837f7a27a2fcd91ad2
(const std::vector< Gaits > &gaits)
virtual
~GaitGenerator
classtowr_1_1GaitGenerator.html
ad496ad1898c04fa19d21a116b7012bfe
()=default
static Ptr
MakeGaitGenerator
classtowr_1_1GaitGenerator.html
a6d1281ebbf67416bf92d882d791dc9ed
(int leg_count)
GaitInfo
RemoveTransition
classtowr_1_1GaitGenerator.html
a4d84c1e3cd0273b9e06462e2744d01e7
(const GaitInfo &g) const
std::vector< ContactState >
contacts_
classtowr_1_1GaitGenerator.html
a4d128811e2c8d31c0fb61157584bb0ae
std::vector< double >
times_
classtowr_1_1GaitGenerator.html
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virtual GaitInfo
GetGait
classtowr_1_1GaitGenerator.html
a5678052af0676b1a2194636c38e62ab0
(Gaits gait) const =0
VecTimes
GetNormalizedPhaseDurations
classtowr_1_1GaitGenerator.html
a752a5aa1a21c62ec3f07eb12ee323f81
(EE ee) const
FootDurations
GetPhaseDurations
classtowr_1_1GaitGenerator.html
a4685328edcf8830460e042aef7e5c9b0
() const
towr::Gap
classtowr_1_1Gap.html
towr::HeightMap
double
GetHeight
classtowr_1_1Gap.html
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(double x, double y) const override
double
GetHeightDerivWrtX
classtowr_1_1Gap.html
a6746cc92b148f33fec887c76d14ecfc3
(double x, double y) const override
double
GetHeightDerivWrtXX
classtowr_1_1Gap.html
a72314c75402ac7e2ab24657e00ae9771
(double x, double y) const override
const double
a
classtowr_1_1Gap.html
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const double
b
classtowr_1_1Gap.html
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const double
c
classtowr_1_1Gap.html
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const double
dx
classtowr_1_1Gap.html
a4f6ae009b8f5d05d3a25640d85e43cd5
const double
gap_end_x
classtowr_1_1Gap.html
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const double
gap_start_
classtowr_1_1Gap.html
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const double
h
classtowr_1_1Gap.html
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const double
slope_
classtowr_1_1Gap.html
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const double
w
classtowr_1_1Gap.html
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const double
xc
classtowr_1_1Gap.html
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towr::HeightMap
classtowr_1_1HeightMap.html
BlockID
classtowr_1_1HeightMap.html
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ChimneyID
classtowr_1_1HeightMap.html
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ChimneyLRID
classtowr_1_1HeightMap.html
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Direction
classtowr_1_1HeightMap.html
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Normal
classtowr_1_1HeightMap.html
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Tangent1
classtowr_1_1HeightMap.html
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Tangent2
classtowr_1_1HeightMap.html
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FlatID
classtowr_1_1HeightMap.html
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GapID
classtowr_1_1HeightMap.html
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Normal
classtowr_1_1HeightMap.html
ae8e30b1d89b1b08759785ccc4ca7dfe2a9301e393b55436fd7222ff2523de8ad2
std::shared_ptr< HeightMap >
Ptr
classtowr_1_1HeightMap.html
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SlopeID
classtowr_1_1HeightMap.html
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StairsID
classtowr_1_1HeightMap.html
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Tangent1
classtowr_1_1HeightMap.html
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Tangent2
classtowr_1_1HeightMap.html
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TERRAIN_COUNT
classtowr_1_1HeightMap.html
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TerrainID
classtowr_1_1HeightMap.html
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FlatID
classtowr_1_1HeightMap.html
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BlockID
classtowr_1_1HeightMap.html
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StairsID
classtowr_1_1HeightMap.html
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GapID
classtowr_1_1HeightMap.html
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SlopeID
classtowr_1_1HeightMap.html
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ChimneyID
classtowr_1_1HeightMap.html
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ChimneyLRID
classtowr_1_1HeightMap.html
ad5097170144e17671c3a308265cee6cba09162c13d51fa434ac8385f404ea57ca
TERRAIN_COUNT
classtowr_1_1HeightMap.html
ad5097170144e17671c3a308265cee6cba1edfd0ba16881d270511b85e632bb263
Eigen::Vector3d
Vector3d
classtowr_1_1HeightMap.html
a66d26d032d9ba8dc9cff7604d4119e04
double
GetDerivativeOfHeightWrt
classtowr_1_1HeightMap.html
a9ba8f4e49ba73eb13aba0b56e7a7f76d
(Dim2D dim, double x, double y) const
Vector3d
GetDerivativeOfNormalizedBasisWrt
classtowr_1_1HeightMap.html
ab758e161f5d003e32d27286487ba0616
(Direction direction, Dim2D dim, double x, double y) const
double
GetFrictionCoeff
classtowr_1_1HeightMap.html
a62eadf6abc9a5ab3d1d034a440a4fcaf
() const
virtual double
GetHeight
classtowr_1_1HeightMap.html
a21909ca0c9fb9c6db87c23c3bf2dcb76
(double x, double y) const =0
Vector3d
GetNormalizedBasis
classtowr_1_1HeightMap.html
ab83b176a234b4f2ea1b5cee5dca64e27
(Direction direction, double x, double y) const
HeightMap
classtowr_1_1HeightMap.html
a7865f2984928817a97be28eeb86c3158
()=default
virtual
~HeightMap
classtowr_1_1HeightMap.html
a056736a2fa4b5ef8f7bcfa05adffc6a6
()=default
static HeightMap::Ptr
MakeTerrain
classtowr_1_1HeightMap.html
a64a03bc314cb83b2fe827e20c220305a
(TerrainID type)
double
friction_coeff_
classtowr_1_1HeightMap.html
a6c382658d4216c800aef611a32b18f2d
std::vector< Dim2D >
DimDerivs
classtowr_1_1HeightMap.html
a4a7d6c71171f0c673a7ec0c14b09b264
Vector3d
GetBasis
classtowr_1_1HeightMap.html
ac5a360549cc7ea82b6f39b81e96fd3d4
(Direction direction, double x, double y, const DimDerivs &dim_deriv={}) const
Vector3d
GetDerivativeOfNormalizedVectorWrtNonNormalizedIndex
classtowr_1_1HeightMap.html
ab3aa9117e80d53ace3e9d3f52de21ba0
(const Vector3d &non_normalized, int index) const
virtual double
GetHeightDerivWrtX
classtowr_1_1HeightMap.html
a345cb677ccd5d56e563504b956e5d4d9
(double x, double y) const
virtual double
GetHeightDerivWrtXX
classtowr_1_1HeightMap.html
af9c8f54961ae61a27c45599f3140c085
(double x, double y) const
virtual double
GetHeightDerivWrtXY
classtowr_1_1HeightMap.html
aa2f557c6927e8fea2c8c98a1dbd06478
(double x, double y) const
virtual double
GetHeightDerivWrtY
classtowr_1_1HeightMap.html
a758594317b632371f04bbb35b4b2f314
(double x, double y) const
virtual double
GetHeightDerivWrtYX
classtowr_1_1HeightMap.html
a848f07d7ba639f254f66e9ec2614a12b
(double x, double y) const
virtual double
GetHeightDerivWrtYY
classtowr_1_1HeightMap.html
a3230435ed69aad23f2be17493dbd0a99
(double x, double y) const
Vector3d
GetNormal
classtowr_1_1HeightMap.html
ad6706547e9f37710285521087ae266d0
(double x, double y, const DimDerivs &={}) const
double
GetSecondDerivativeOfHeightWrt
classtowr_1_1HeightMap.html
a9a5f7e87ec30e0b1df88e25a13b84a2b
(Dim2D dim1, Dim2D dim2, double x, double y) const
Vector3d
GetTangent1
classtowr_1_1HeightMap.html
a96458a2ec3d3653c6fae32d312c9739f
(double x, double y, const DimDerivs &={}) const
Vector3d
GetTangent2
classtowr_1_1HeightMap.html
a61fb63c7c76e49ed9e2b45068ef0dc42
(double x, double y, const DimDerivs &={}) const
towr::HyqDynamicModel
classtowr_1_1HyqDynamicModel.html
towr::SingleRigidBodyDynamics
HyqDynamicModel
classtowr_1_1HyqDynamicModel.html
a53baa858e11356035ed217690188897d
()
towr::HyqKinematicModel
classtowr_1_1HyqKinematicModel.html
towr::KinematicModel
HyqKinematicModel
classtowr_1_1HyqKinematicModel.html
a79d2104d433d290667ef2b9a7c8330f6
()
towr::KinematicModel
classtowr_1_1KinematicModel.html
std::vector< Eigen::Vector3d >
EEPos
classtowr_1_1KinematicModel.html
afc2e37803fd2f878448e5275f5176473
std::shared_ptr< KinematicModel >
Ptr
classtowr_1_1KinematicModel.html
a23cbc935459fc59c0a764b6f8c5a0b37
Eigen::Vector3d
Vector3d
classtowr_1_1KinematicModel.html
a8f902be8ef9a8c548ede650610fdc760
virtual Vector3d
GetMaximumDeviationFromNominal
classtowr_1_1KinematicModel.html
ab2522cc992455031c465a91da48b8690
() const
virtual EEPos
GetNominalStanceInBase
classtowr_1_1KinematicModel.html
a11d29a83d4236ffa6596acc466221821
() const
int
GetNumberOfEndeffectors
classtowr_1_1KinematicModel.html
a78c28c738efdb2abd359c4b0ff33387d
() const
KinematicModel
classtowr_1_1KinematicModel.html
a66a71173051694a111586fb9be9b3252
(int n_ee)
virtual
~KinematicModel
classtowr_1_1KinematicModel.html
ab3905a207688475e754d49b3ea25084a
()=default
Vector3d
max_dev_from_nominal_
classtowr_1_1KinematicModel.html
add91b952d1956a0c6de6c5029c36af81
EEPos
nominal_stance_
classtowr_1_1KinematicModel.html
ae781cd3d115a9c7a72fe76e57b8cb84e
towr::LinearEqualityConstraint
classtowr_1_1LinearEqualityConstraint.html
ifopt::ConstraintSet
Eigen::MatrixXd
MatrixXd
classtowr_1_1LinearEqualityConstraint.html
a4636d254b2f54b9242db991f38979f94
void
FillJacobianBlock
classtowr_1_1LinearEqualityConstraint.html
a711ce04b8c394c542a97ee4d7ddf7379
(std::string var_set, Jacobian &) const final
VecBound
GetBounds
classtowr_1_1LinearEqualityConstraint.html
af3cd7f01d6ae33cbdb3fd4c221d6ea3c
() const final
VectorXd
GetValues
classtowr_1_1LinearEqualityConstraint.html
aeafb51ca8c1296feef0cf6257aa86ea6
() const final
LinearEqualityConstraint
classtowr_1_1LinearEqualityConstraint.html
a51acd68e6eaa156e9d6652c39919bfae
(const MatrixXd &M, const VectorXd &v, const std::string &variable_set)
virtual
~LinearEqualityConstraint
classtowr_1_1LinearEqualityConstraint.html
a82589cff70f95bfca162c9a3551a41aa
()=default
MatrixXd
M_
classtowr_1_1LinearEqualityConstraint.html
af15786d7982369b127746e559631f307
VectorXd
v_
classtowr_1_1LinearEqualityConstraint.html
ae329eca1f0102da8e281dbc148f2aec4
std::string
variable_name_
classtowr_1_1LinearEqualityConstraint.html
afb7b372356acdf1f2460002526379b4a
towr::MonopedDynamicModel
classtowr_1_1MonopedDynamicModel.html
towr::SingleRigidBodyDynamics
MonopedDynamicModel
classtowr_1_1MonopedDynamicModel.html
a2f52258db1a808cd1d30d49d13bf4696
()
towr::MonopedGaitGenerator
classtowr_1_1MonopedGaitGenerator.html
towr::GaitGenerator
MonopedGaitGenerator
classtowr_1_1MonopedGaitGenerator.html
a0fa80dc5658ddb8da3d0d893f94528a0
()=default
virtual
~MonopedGaitGenerator
classtowr_1_1MonopedGaitGenerator.html
a6658cef51319deb09cb20addf37959b7
()=default
GaitInfo
GetGait
classtowr_1_1MonopedGaitGenerator.html
a8a8b7c87f6a2835d9db81806db0cb7cf
(Gaits gait) const override
GaitInfo
GetStrideFlight
classtowr_1_1MonopedGaitGenerator.html
ae28a226603894a8a9061880463140c7d
() const
GaitInfo
GetStrideHop
classtowr_1_1MonopedGaitGenerator.html
a85c5788df9a7c7eaa275cb570e23c54c
() const
GaitInfo
GetStrideHopLong
classtowr_1_1MonopedGaitGenerator.html
a07e16b34c09f2e384e02402817deb4c7
() const
GaitInfo
GetStrideStand
classtowr_1_1MonopedGaitGenerator.html
ae91c170bc7e8a1fdd8e06a17238b977f
() const
void
SetCombo
classtowr_1_1MonopedGaitGenerator.html
a4df3aee1ed26e1033106d9affdd3adfd
(Combos combo) override
ContactState
o_
classtowr_1_1MonopedGaitGenerator.html
a7249c5c4cec7fe6f55bf653efd267a46
ContactState
x_
classtowr_1_1MonopedGaitGenerator.html
aa2ff088225b420ac6a35285855cf6823
towr::MonopedKinematicModel
classtowr_1_1MonopedKinematicModel.html
towr::KinematicModel
MonopedKinematicModel
classtowr_1_1MonopedKinematicModel.html
a28781c3c57dd8c1b081372cf5c2400be
()
towr::NlpFormulation
classtowr_1_1NlpFormulation.html
std::vector< ifopt::ConstraintSet::Ptr >
ContraintPtrVec
classtowr_1_1NlpFormulation.html
a33157f0dc8d2baf204ee1172b10bc113
std::vector< ifopt::CostTerm::Ptr >
CostPtrVec
classtowr_1_1NlpFormulation.html
a50808869ae3024af1eed6ffe210f6c64
std::vector< Eigen::Vector3d >
EEPos
classtowr_1_1NlpFormulation.html
aea0f9e6429c422e56085a3c0222767e0
std::vector< ifopt::VariableSet::Ptr >
VariablePtrVec
classtowr_1_1NlpFormulation.html
ac716d96e155061aa2dd3b2cb2bcd6fc8
Eigen::Vector3d
Vector3d
classtowr_1_1NlpFormulation.html
a88cba540afa0ba035b2abd82772a6d08
ContraintPtrVec
GetConstraints
classtowr_1_1NlpFormulation.html
a64dc3d53445ab00e96ecf7a63f8c263b
(const SplineHolder &spline_holder) const
ContraintPtrVec
GetCosts
classtowr_1_1NlpFormulation.html
a6f98aa200b108a9e689e88db073b20fe
() const
VariablePtrVec
GetVariableSets
classtowr_1_1NlpFormulation.html
a31039d7146af8e604d0548a5082fbc8f
(SplineHolder &spline_holder)
NlpFormulation
classtowr_1_1NlpFormulation.html
a753ff6ac005e3c482cee28d28248e014
()
virtual
~NlpFormulation
classtowr_1_1NlpFormulation.html
a0b4e53be5637d83f0b28bfd25a3a1861
()=default
BaseState
final_base_
classtowr_1_1NlpFormulation.html
a3c76661ab22fc828ba234804cca61eab
BaseState
initial_base_
classtowr_1_1NlpFormulation.html
adc10bd1babb31f23b69972c04ed3f76c
EEPos
initial_ee_W_
classtowr_1_1NlpFormulation.html
acb5b9123dbd9e8f04f63da52a123adbe
RobotModel
model_
classtowr_1_1NlpFormulation.html
ae1519002c3631aed2841e0836cc0d175
Parameters
params_
classtowr_1_1NlpFormulation.html
a4d82e4e92b4b022ada49275207b6ac9b
HeightMap::Ptr
terrain_
classtowr_1_1NlpFormulation.html
a0e3e0bb9d1d3910124611413c672613e
ContraintPtrVec
GetConstraint
classtowr_1_1NlpFormulation.html
a6ed253f49d12e7e7203006b889e2ad6a
(Parameters::ConstraintName name, const SplineHolder &splines) const
CostPtrVec
GetCost
classtowr_1_1NlpFormulation.html
a40f24e2d01c7bded6c9b945fc83a5aad
(const Parameters::CostName &id, double weight) const
ContraintPtrVec
MakeBaseAccConstraint
classtowr_1_1NlpFormulation.html
a8bdda2007c05fa3a0458f29c8bb75c77
(const SplineHolder &s) const
ContraintPtrVec
MakeBaseRangeOfMotionConstraint
classtowr_1_1NlpFormulation.html
a0a077d8a5ac952554de782ccd4ee60db
(const SplineHolder &s) const
std::vector< NodesVariables::Ptr >
MakeBaseVariables
classtowr_1_1NlpFormulation.html
a8a6756adc85cea05f92f8b13aa584214
() const
std::vector< PhaseDurations::Ptr >
MakeContactScheduleVariables
classtowr_1_1NlpFormulation.html
a0c01d59c2c6d0a0b16c197fe7f91aa00
() const
ContraintPtrVec
MakeDynamicConstraint
classtowr_1_1NlpFormulation.html
ae0ee288eb425044879df578933062b3d
(const SplineHolder &s) const
CostPtrVec
MakeEEMotionCost
classtowr_1_1NlpFormulation.html
a588275ce622988008201ecde8321bdd2
(double weight) const
std::vector< NodesVariablesPhaseBased::Ptr >
MakeEndeffectorVariables
classtowr_1_1NlpFormulation.html
ab5930b38f0f75ad481b72d3f586edcd4
() const
ContraintPtrVec
MakeForceConstraint
classtowr_1_1NlpFormulation.html
a544fbb93bc9d1eb562dc30cd03f21690
() const
CostPtrVec
MakeForcesCost
classtowr_1_1NlpFormulation.html
a05600c26b6deeb5c734eb794883b0d16
(double weight) const
std::vector< NodesVariablesPhaseBased::Ptr >
MakeForceVariables
classtowr_1_1NlpFormulation.html
aebc4cbfeb60ed991760eeadaaa15f1e8
() const
ContraintPtrVec
MakeRangeOfMotionBoxConstraint
classtowr_1_1NlpFormulation.html
a01e770575f674a4ee074d11677f83a77
(const SplineHolder &s) const
ContraintPtrVec
MakeSwingConstraint
classtowr_1_1NlpFormulation.html
aaf1dd6d8512da489146d40d6db592be2
() const
ContraintPtrVec
MakeTerrainConstraint
classtowr_1_1NlpFormulation.html
a897afe3abf814c030fb0ca60b7bfb299
() const
ContraintPtrVec
MakeTotalTimeConstraint
classtowr_1_1NlpFormulation.html
a0c05ad55b4e34e4e7bdb511273a05151
() const
towr::Node
classtowr_1_1Node.html
towr::State
Node
classtowr_1_1Node.html
a1c4c388eb5307d44c3aab075dac3857a
(int dim=0)
virtual
~Node
classtowr_1_1Node.html
ae4051590252266687e2412d53bb2f6e7
()=default
static const int
n_derivatives
classtowr_1_1Node.html
ac295f42a0afbcad669e9c0cad9847ed8
towr::NodeCost
classtowr_1_1NodeCost.html
ifopt::CostTerm
double
GetCost
classtowr_1_1NodeCost.html
a41142f1356522b33c872f9965acad7bc
() const override
void
InitVariableDependedQuantities
classtowr_1_1NodeCost.html
a551d3a9c822106b0e3ca0d90bb6f8bde
(const VariablesPtr &x) override
NodeCost
classtowr_1_1NodeCost.html
a268ce06586d3252962bb40a3a2ea57f7
(const std::string &nodes_id, Dx deriv, int dim, double weight)
virtual
~NodeCost
classtowr_1_1NodeCost.html
a1077f02b678dd10956d0e28f5138f8f3
()=default
void
FillJacobianBlock
classtowr_1_1NodeCost.html
a44c9dc999d610d81cff45531cb8489d8
(std::string var_set, Jacobian &) const override
Dx
deriv_
classtowr_1_1NodeCost.html
a447231533dbfb4a6dbbf4a3d9d1bb1e9
int
dim_
classtowr_1_1NodeCost.html
af123ec135cab24ccf83c4e481aa6ad33
std::string
node_id_
classtowr_1_1NodeCost.html
a83ba04a363410dbc0cb0f8cea66231e6
std::shared_ptr< NodesVariables >
nodes_
classtowr_1_1NodeCost.html
adccee06a8e92bc5ef62fed041627881c
double
weight_
classtowr_1_1NodeCost.html
ab49ebcf512b39429ca8b36e782b5a511
towr::NodesObserver
classtowr_1_1NodesObserver.html
NodesVariables *
NodeSubjectPtr
classtowr_1_1NodesObserver.html
a6b96c7663956310ab30bff80b1a115e1
NodesObserver
classtowr_1_1NodesObserver.html
a4ff1a51fbf063b0b53a1d3e16aa58a57
(NodeSubjectPtr node_values)
virtual void
UpdateNodes
classtowr_1_1NodesObserver.html
a2e65935212ca3f31ab7f437ed7b305b2
()=0
virtual
~NodesObserver
classtowr_1_1NodesObserver.html
a12d5ef063375fd828ead356a60d9dacf
()=default
NodeSubjectPtr
node_values_
classtowr_1_1NodesObserver.html
a4a88f9192d77f503a35ada1cbf3e0cc8
towr::NodeSpline
classtowr_1_1NodeSpline.html
towr::Spline
towr::NodesObserver
Eigen::SparseMatrix< double, Eigen::RowMajor >
Jacobian
classtowr_1_1NodeSpline.html
a346528115cb2a7e1eb509eebfc65bd71
std::shared_ptr< NodeSpline >
Ptr
classtowr_1_1NodeSpline.html
a43f999961e822cd5a9dca75afefd0213
virtual Jacobian
GetJacobianOfPosWrtDurations
classtowr_1_1NodeSpline.html
aa6bae6dbe70d134e7cf8dbbe0cb4370c
(double t) const
Jacobian
GetJacobianWrtNodes
classtowr_1_1NodeSpline.html
a31541f0790cb65d521bb53a884f1a8f5
(double t, Dx dxdt) const
Jacobian
GetJacobianWrtNodes
classtowr_1_1NodeSpline.html
a6ea0a2bb8b554d4308cf26b0a3ccdcf0
(int poly_id, double t_local, Dx dxdt) const
int
GetNodeVariablesCount
classtowr_1_1NodeSpline.html
aaaab53c50dab0e3e3ce8a060f35aad01
() const
NodeSpline
classtowr_1_1NodeSpline.html
a0a3ff73da36e166d2f93e1db8f81779d
(NodeSubjectPtr const node_variables, const VecTimes &polynomial_durations)
void
UpdateNodes
classtowr_1_1NodeSpline.html
a47ae011b79c13d80d525373954c998ca
()
~NodeSpline
classtowr_1_1NodeSpline.html
a0406eff38a908ce08d6990ca725bf0af
()=default
void
FillJacobianWrtNodes
classtowr_1_1NodeSpline.html
a4dca3945b4c7b6a2c4f36b43b277992f
(int poly_id, double t_local, Dx dxdt, Jacobian &jac, bool fill_with_zeros) const
Jacobian
jac_wrt_nodes_structure_
classtowr_1_1NodeSpline.html
a15d6b85f4c6e9fc6563345b93b71466b
towr::NodesVariables
classtowr_1_1NodesVariables.html
ifopt::VariableSet
towr::NodesVariables::NodeValueInfo
End
classtowr_1_1NodesVariables.html
aa254f4d1f8b825180b304b09a08eec12a35971896a2f876c616c489a51566f523
NodesObserver *
ObserverPtr
classtowr_1_1NodesVariables.html
adb4d8acd13696ccd2e6ab23041617263
std::shared_ptr< NodesVariables >
Ptr
classtowr_1_1NodesVariables.html
abd28967e337f58620a8c584bbeb21b68
Side
classtowr_1_1NodesVariables.html
aa254f4d1f8b825180b304b09a08eec12
Start
classtowr_1_1NodesVariables.html
aa254f4d1f8b825180b304b09a08eec12a00f9cb729be7a1b1ab6d0a984e7701cd
End
classtowr_1_1NodesVariables.html
aa254f4d1f8b825180b304b09a08eec12a35971896a2f876c616c489a51566f523
Start
classtowr_1_1NodesVariables.html
aa254f4d1f8b825180b304b09a08eec12a00f9cb729be7a1b1ab6d0a984e7701cd
std::vector< double >
VecDurations
classtowr_1_1NodesVariables.html
a405cfeb4fcd96f7e2a1a4aa7835a0bc3
void
AddFinalBound
classtowr_1_1NodesVariables.html
addd737b9ce813e88dd409f305af58076
(Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
void
AddObserver
classtowr_1_1NodesVariables.html
af49006510eff2805fa6a3e328a0a6f6a
(ObserverPtr const spline)
void
AddStartBound
classtowr_1_1NodesVariables.html
a97f1cbe7d48842059c00e7b085ce4855
(Dx deriv, const std::vector< int > &dimensions, const VectorXd &val)
const std::vector< Node >
GetBoundaryNodes
classtowr_1_1NodesVariables.html
a0fb9acd20f7224733a812f9c69aa9bd8
(int poly_id) const
VecBound
GetBounds
classtowr_1_1NodesVariables.html
a535d57b7e29aea7acfa12ba5d07f855c
() const override
int
GetDim
classtowr_1_1NodesVariables.html
a9049964c009ad7c3eb3c528ea512c357
() const
const std::vector< Node >
GetNodes
classtowr_1_1NodesVariables.html
ae74505e1b1beec345c6d2b9ae49d737d
() const
virtual std::vector< NodeValueInfo >
GetNodeValuesInfo
classtowr_1_1NodesVariables.html
a2c44cfb851b23ec3755d7e0d7336f95d
(int opt_idx) const =0
int
GetOptIndex
classtowr_1_1NodesVariables.html
a30843358503de0abeb9a193e7a4c1330
(const NodeValueInfo &nvi) const
int
GetPolynomialCount
classtowr_1_1NodesVariables.html
a8078485626ea62319aad0c208e3c47b2
() const
VectorXd
GetValues
classtowr_1_1NodesVariables.html
a27229bd7ab21566c834e3bf18c5d69f4
() const override
void
SetByLinearInterpolation
classtowr_1_1NodesVariables.html
a4d8299edc4ddd86725ce2b49ce682f7d
(const VectorXd &initial_val, const VectorXd &final_val, double t_total)
void
SetVariables
classtowr_1_1NodesVariables.html
a64c4c7e41eb0d221dbbcd0025d9dac68
(const VectorXd &x) override
static int
GetNodeId
classtowr_1_1NodesVariables.html
aafde76e343cc71a353205364e30e40f9
(int poly_id, Side side)
static const int
NodeValueNotOptimized
classtowr_1_1NodesVariables.html
ab71fcf4db4bdf586cccb728289051b19
NodesVariables
classtowr_1_1NodesVariables.html
a0d8e263deb856b4df1a762c452e26175
(const std::string &variable_name)
virtual
~NodesVariables
classtowr_1_1NodesVariables.html
a2eec5ebb4df8413ef862d4bb7a38c315
()=default
VecBound
bounds_
classtowr_1_1NodesVariables.html
a9e427bb84784ae7a11a6e762d8861808
int
n_dim_
classtowr_1_1NodesVariables.html
a33cbd54eacd91660bfef7f6d11f54612
std::vector< Node >
nodes_
classtowr_1_1NodesVariables.html
a0c1d950858884b72824dce2b698414f5
void
AddBound
classtowr_1_1NodesVariables.html
a8db9c296a33856c2778d845e91915c8f
(const NodeValueInfo &node_info, double value)
void
AddBounds
classtowr_1_1NodesVariables.html
afdd060b2b0b7ff3dd4337538f732f8ae
(int node_id, Dx deriv, const std::vector< int > &dim, const VectorXd &values)
void
UpdateObservers
classtowr_1_1NodesVariables.html
ae21e6574b8364a3760d05cf839223872
() const
std::vector< ObserverPtr >
observers_
classtowr_1_1NodesVariables.html
a5cc559538a20eaf67a426534c9abc15e
towr::NodesVariablesAll
classtowr_1_1NodesVariablesAll.html
towr::NodesVariables
std::vector< NodeValueInfo >
GetNodeValuesInfo
classtowr_1_1NodesVariablesAll.html
a6bd2f236727e2573676b6a098598636b
(int idx) const override
NodesVariablesAll
classtowr_1_1NodesVariablesAll.html
afdc8741c190d46765ea18b9be2f4f206
(int n_nodes, int n_dim, std::string variable_id)
virtual
~NodesVariablesAll
classtowr_1_1NodesVariablesAll.html
a44b936c7353a7af79df5def954e1264a
()=default
towr::NodesVariablesEEForce
classtowr_1_1NodesVariablesEEForce.html
towr::NodesVariablesPhaseBased
OptIndexMap
GetPhaseBasedEEParameterization
classtowr_1_1NodesVariablesEEForce.html
ac96ec94be638c2ee49e225ae79b3b215
()
NodesVariablesEEForce
classtowr_1_1NodesVariablesEEForce.html
a886f9de7cd2539c0487ec0f61aa04c7c
(int phase_count, bool is_in_contact_at_start, const std::string &name, int n_polys_in_changing_phase)
virtual
~NodesVariablesEEForce
classtowr_1_1NodesVariablesEEForce.html
a2ffc2995e908cb4cde1ca6fe5d54b442
()=default
towr::NodesVariablesEEMotion
classtowr_1_1NodesVariablesEEMotion.html
towr::NodesVariablesPhaseBased
OptIndexMap
GetPhaseBasedEEParameterization
classtowr_1_1NodesVariablesEEMotion.html
a599c1d87c0591b17da9100e83dce6251
()
NodesVariablesEEMotion
classtowr_1_1NodesVariablesEEMotion.html
add2d1f9fc9d3133faa2ceea97b7479d9
(int phase_count, bool is_in_contact_at_start, const std::string &name, int n_polys_in_changing_phase)
virtual
~NodesVariablesEEMotion
classtowr_1_1NodesVariablesEEMotion.html
a3cf51383adb55d16fdabf146470f1cd4
()=default
towr::NodesVariablesPhaseBased
classtowr_1_1NodesVariablesPhaseBased.html
towr::NodesVariables
towr::NodesVariablesPhaseBased::PolyInfo
std::vector< int >
NodeIds
classtowr_1_1NodesVariablesPhaseBased.html
a88b9e9793b144e71af266b7ae9ff3e00
std::map< int, std::vector< NodeValueInfo > >
OptIndexMap
classtowr_1_1NodesVariablesPhaseBased.html
ac1234f0742580ad950ba935797ec9dcb
std::shared_ptr< NodesVariablesPhaseBased >
Ptr
classtowr_1_1NodesVariablesPhaseBased.html
a290d485492b2e5c314ab8793c9e3ef31
virtual VecDurations
ConvertPhaseToPolyDurations
classtowr_1_1NodesVariablesPhaseBased.html
aba02487b13dfc09f3dafb29117ce4a55
(const VecDurations &phase_durations) const
virtual double
GetDerivativeOfPolyDurationWrtPhaseDuration
classtowr_1_1NodesVariablesPhaseBased.html
ab127b037b6552d5270f98a39008724c1
(int polynomial_id) const
NodeIds
GetIndicesOfNonConstantNodes
classtowr_1_1NodesVariablesPhaseBased.html
abdd81e7a0a86c3e8b0ee2f3413066aaf
() const
int
GetNodeIDAtStartOfPhase
classtowr_1_1NodesVariablesPhaseBased.html
a8eafc6efe3f4b0ed184e4cad7477d324
(int phase) const
virtual int
GetNumberOfPrevPolynomialsInPhase
classtowr_1_1NodesVariablesPhaseBased.html
a2b6e73ea5e947525213104c5d1dcc19e
(int polynomial_id) const
int
GetPhase
classtowr_1_1NodesVariablesPhaseBased.html
a2080da67c1261cfc9d3f2f94eb8177a8
(int node_id) const
Eigen::Vector3d
GetValueAtStartOfPhase
classtowr_1_1NodesVariablesPhaseBased.html
a963be210357729dcda7abbd7718467d7
(int phase) const
virtual bool
IsConstantNode
classtowr_1_1NodesVariablesPhaseBased.html
a3dd3ed2a009d4f966cbaeb99a31b6890
(int node_id) const
virtual bool
IsInConstantPhase
classtowr_1_1NodesVariablesPhaseBased.html
a19d743227f5c89c7b94e304458ae7956
(int polynomial_id) const
NodesVariablesPhaseBased
classtowr_1_1NodesVariablesPhaseBased.html
a363258e90589dea57a79f784a77fc6ac
(int phase_count, bool first_phase_constant, const std::string &var_name, int n_polys_in_changing_phase)
virtual
~NodesVariablesPhaseBased
classtowr_1_1NodesVariablesPhaseBased.html
a50d7d4f9172a621ba76ad6727217466f
()=default
std::vector< NodeValueInfo >
GetNodeValuesInfo
classtowr_1_1NodesVariablesPhaseBased.html
a0623acc02f091bd7501df1b5d35f0493
(int idx) const override
void
SetNumberOfVariables
classtowr_1_1NodesVariablesPhaseBased.html
afee5d78eb99b4f6c908ba7e762bbeb3f
(int n_variables)
OptIndexMap
index_to_node_value_info_
classtowr_1_1NodesVariablesPhaseBased.html
afbbfc0413b46fa8606de56e179fd41e6
std::vector< int >
GetAdjacentPolyIds
classtowr_1_1NodesVariablesPhaseBased.html
a2057a10313cea07091c4a0600f66ed9e
(int node_id) const
int
GetPolyIDAtStartOfPhase
classtowr_1_1NodesVariablesPhaseBased.html
a8e055b2810c77df905560f464c90423b
(int phase) const
std::vector< PolyInfo >
polynomial_info_
classtowr_1_1NodesVariablesPhaseBased.html
a67bb1e811e3759850a23337bc39e163b
towr::NodesVariables::NodeValueInfo
structtowr_1_1NodesVariables_1_1NodeValueInfo.html
NodeValueInfo
structtowr_1_1NodesVariables_1_1NodeValueInfo.html
af740721651c3551992a64e540f9e0b52
()=default
NodeValueInfo
structtowr_1_1NodesVariables_1_1NodeValueInfo.html
a81317473a84cea028a61648775798d25
(int node_id, Dx deriv, int node_dim)
int
operator==
structtowr_1_1NodesVariables_1_1NodeValueInfo.html
a06453106be17529c4c3fd47d390a2180
(const NodeValueInfo &right) const
Dx
deriv_
structtowr_1_1NodesVariables_1_1NodeValueInfo.html
ae271a86c196af6e8cf00adf03b0f2f04
int
dim_
structtowr_1_1NodesVariables_1_1NodeValueInfo.html
a336d72b18fafd7faf40ae5e228a9809e
int
id_
structtowr_1_1NodesVariables_1_1NodeValueInfo.html
a852c7aee73fafb5d241bba1b7e4fb826
towr::Parameters
classtowr_1_1Parameters.html
BaseAcc
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa0b73cf347cca797c0cb9bf884f7df647
BaseRom
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa1ad6b97372c057941cc8784ab3a3f860
ConstraintName
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7f
Dynamic
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7faf0a14b5e112801cc5074d4496e4831b8
EndeffectorRom
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fabd7c0ec2dacbd6b9c9c1e587b70078dd
TotalTime
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7facf534b67f52516d64463a3a44250229e
Terrain
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa9ed8656ac98d65b7f25882a6dcd18787
Force
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa4cf80d301affb09b85ec6d0e1f74991c
Swing
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa29504317f98d4abc2869ce0857f1be5d
BaseRom
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa1ad6b97372c057941cc8784ab3a3f860
BaseAcc
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa0b73cf347cca797c0cb9bf884f7df647
CostName
classtowr_1_1Parameters.html
abe695dd4504732931049d5df759eb202
ForcesCostID
classtowr_1_1Parameters.html
abe695dd4504732931049d5df759eb202a4b641d410d9ec413781ba33d39ac565f
EEMotionCostID
classtowr_1_1Parameters.html
abe695dd4504732931049d5df759eb202ad4e86e26b264002220d7a4cdb3ad4e3c
std::vector< std::pair< CostName, double >>
CostWeights
classtowr_1_1Parameters.html
a5ee432550005c03b31ff3412a4d9bb1e
Dynamic
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7faf0a14b5e112801cc5074d4496e4831b8
unsigned int
EEID
classtowr_1_1Parameters.html
a7731718891b2cb4a884f0c2fd3b50383
EEMotionCostID
classtowr_1_1Parameters.html
abe695dd4504732931049d5df759eb202ad4e86e26b264002220d7a4cdb3ad4e3c
EndeffectorRom
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fabd7c0ec2dacbd6b9c9c1e587b70078dd
Force
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa4cf80d301affb09b85ec6d0e1f74991c
ForcesCostID
classtowr_1_1Parameters.html
abe695dd4504732931049d5df759eb202a4b641d410d9ec413781ba33d39ac565f
Swing
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa29504317f98d4abc2869ce0857f1be5d
Terrain
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7fa9ed8656ac98d65b7f25882a6dcd18787
TotalTime
classtowr_1_1Parameters.html
a9625ce9d0951f44284107ca1fe6b6c7facf534b67f52516d64463a3a44250229e
std::vector< ConstraintName >
UsedConstraints
classtowr_1_1Parameters.html
a5673f2f90483e40f3e2d2359b1da2fd4
std::vector< double >
VecTimes
classtowr_1_1Parameters.html
aabb5d65fb61e96f5cfdd3a1aea6272a5
VecTimes
GetBasePolyDurations
classtowr_1_1Parameters.html
aa6478a0fc9a9c187f4a5dd52188dbe76
() const
int
GetEECount
classtowr_1_1Parameters.html
a619d492ab0e32504702fc7753f575ee7
() const
int
GetPhaseCount
classtowr_1_1Parameters.html
a08becfa4e3c0b38456656aa5f2e77add
(EEID ee) const
double
GetTotalTime
classtowr_1_1Parameters.html
a27f552ac2092a2419fe32c7e61c64ef4
() const
bool
IsOptimizeTimings
classtowr_1_1Parameters.html
a2f97578914ad483efaa7e8415d3540c8
() const
void
OptimizePhaseDurations
classtowr_1_1Parameters.html
ab875e7245eba27230bba3fd75a83bcfc
()
Parameters
classtowr_1_1Parameters.html
a384a30d212730596dc59d6bab3da0c73
()
virtual
~Parameters
classtowr_1_1Parameters.html
a80ce4ddd98b121b7fc6823a3b3800899
()=default
std::pair< double, double >
bound_phase_duration_
classtowr_1_1Parameters.html
a715c1ab4bbc5df85d82f635d0af4f224
std::vector< int >
bounds_final_ang_pos_
classtowr_1_1Parameters.html
a4ba30e005d7950bebadcf07bb2dd1650
std::vector< int >
bounds_final_ang_vel_
classtowr_1_1Parameters.html
a5fd96ae4c0bb79a03b8160b5f816f388
std::vector< int >
bounds_final_lin_pos_
classtowr_1_1Parameters.html
a392ad55e9a62519c1638e9ec37181e21
std::vector< int >
bounds_final_lin_vel_
classtowr_1_1Parameters.html
a78ed8fb1c2c47a25baaf64dbcf19cc0c
UsedConstraints
constraints_
classtowr_1_1Parameters.html
a1d967676cf57413efdc5cdf65ad9886c
CostWeights
costs_
classtowr_1_1Parameters.html
a59fa5a4859573efd59cdec3e45595d75
double
dt_constraint_base_motion_
classtowr_1_1Parameters.html
a3c4fd6bff4eaa9a05f860f8cf8a7ea96
double
dt_constraint_dynamic_
classtowr_1_1Parameters.html
a66234585e7ad82bb663099cdcb6ef53b
double
dt_constraint_range_of_motion_
classtowr_1_1Parameters.html
a89bab1ecc4e6fba1303a8e51237187a4
double
duration_base_polynomial_
classtowr_1_1Parameters.html
af05f51ac84df52e749af3616a5e376dc
std::vector< bool >
ee_in_contact_at_start_
classtowr_1_1Parameters.html
a336f28b75ace4bea141ec6501befec61
std::vector< VecTimes >
ee_phase_durations_
classtowr_1_1Parameters.html
a0284ad6843d7d331ad3cc0f0db1fe416
int
ee_polynomials_per_swing_phase_
classtowr_1_1Parameters.html
a24409670f1e24cce0fa865f3796a4833
double
force_limit_in_normal_direction_
classtowr_1_1Parameters.html
a851696388d5154fccefe18b3c41b6341
int
force_polynomials_per_stance_phase_
classtowr_1_1Parameters.html
a76d18e72ce71a1f7af09663d3cb0a28a
towr::PhaseDurations
classtowr_1_1PhaseDurations.html
ifopt::VariableSet
uint
EndeffectorID
classtowr_1_1PhaseDurations.html
a03caad637c5acca48ebd69982d63291f
std::shared_ptr< PhaseDurations >
Ptr
classtowr_1_1PhaseDurations.html
a6f740dc34b36159012b632f421fcf01f
std::vector< double >
VecDurations
classtowr_1_1PhaseDurations.html
aaddc568e9d5e7f90d747c2cf6c07b38e
void
AddObserver
classtowr_1_1PhaseDurations.html
a0dc9067647382fae86d10c45d4a59712
(PhaseDurationsObserver *const spline)
VecBound
GetBounds
classtowr_1_1PhaseDurations.html
ab3fcb4919c06562d70a0c6a41f6cb4a1
() const override
Jacobian
GetJacobianOfPos
classtowr_1_1PhaseDurations.html
a4780d8dac1b0778d9c2ef57657d1d13d
(int phase, const VectorXd &dx_dT, const VectorXd &xd) const
VecDurations
GetPhaseDurations
classtowr_1_1PhaseDurations.html
a8508209bf4bbe6bb98c26aa379ff9bd1
() const
VectorXd
GetValues
classtowr_1_1PhaseDurations.html
a9bd530bdb20598aced640ef90828af9e
() const override
bool
IsContactPhase
classtowr_1_1PhaseDurations.html
acfe38cd08b159493855871e2e4878add
(double t) const
PhaseDurations
classtowr_1_1PhaseDurations.html
abf9f55d8610a55776015ac8a12c1c243
(EndeffectorID ee, const VecDurations &initial_durations, bool is_first_phase_in_contact, double min_phase_duration, double max_phase_duration)
void
SetVariables
classtowr_1_1PhaseDurations.html
a315e68a8113265d15e4034eb6aeee782
(const VectorXd &x) override
virtual
~PhaseDurations
classtowr_1_1PhaseDurations.html
ae89d71ee4909b9464089f1c64e3910f9
()=default
void
UpdateObservers
classtowr_1_1PhaseDurations.html
a7b7d1465390f0c0d0b89407df733a361
() const
VecDurations
durations_
classtowr_1_1PhaseDurations.html
ac182c6e23cadf60ea0c78f4641278cee
bool
initial_contact_state_
classtowr_1_1PhaseDurations.html
ad8bbe86f94f8c1203ea01d3ec53bca9f
std::vector< PhaseDurationsObserver * >
observers_
classtowr_1_1PhaseDurations.html
ac3a0979ce82b526a7d3057f4c920154e
ifopt::Bounds
phase_duration_bounds_
classtowr_1_1PhaseDurations.html
ab49577af7d03d117d00b3b56c20f9af8
double
t_total_
classtowr_1_1PhaseDurations.html
a20388d514c204327afac2992dc711120
towr::PhaseDurationsObserver
classtowr_1_1PhaseDurationsObserver.html
PhaseDurations *
PhaseDurationsSubjectPtr
classtowr_1_1PhaseDurationsObserver.html
a13becde70e4bd1f924fbd5f8d79cbe73
PhaseDurationsObserver
classtowr_1_1PhaseDurationsObserver.html
a796d3d0d6393a3ef1d51031ae907539e
()=default
PhaseDurationsObserver
classtowr_1_1PhaseDurationsObserver.html
a5f8e51683893a55544e2f8828cb4f466
(PhaseDurationsSubjectPtr phase_durations)
virtual void
UpdatePolynomialDurations
classtowr_1_1PhaseDurationsObserver.html
a7211d487c5946313fb9676155449c2b4
()=0
virtual
~PhaseDurationsObserver
classtowr_1_1PhaseDurationsObserver.html
a4086655ef753e9f52a754da9eb61b40c
()=default
PhaseDurationsSubjectPtr
phase_durations_
classtowr_1_1PhaseDurationsObserver.html
a92ca19646d574298582fb0932e9cc9ae
towr::PhaseSpline
classtowr_1_1PhaseSpline.html
towr::NodeSpline
towr::PhaseDurationsObserver
std::shared_ptr< PhaseSpline >
Ptr
classtowr_1_1PhaseSpline.html
a9cf679b0598070ad8a3cdd0b3de7e443
Eigen::VectorXd
VectorXd
classtowr_1_1PhaseSpline.html
ad644ae9629c96d3699a8681abf3186eb
Jacobian
GetJacobianOfPosWrtDurations
classtowr_1_1PhaseSpline.html
ab0bdac0c7bfbdd2122384249d6f63f32
(double t) const override
PhaseSpline
classtowr_1_1PhaseSpline.html
a2cbbadf13d7c59a8c3664db7614b9093
(NodesVariablesPhaseBased::Ptr const node_variables, PhaseDurations *const phase_durations)
void
UpdatePolynomialDurations
classtowr_1_1PhaseSpline.html
a0d13384180423ec3090949214dde5d85
() override
~PhaseSpline
classtowr_1_1PhaseSpline.html
a0cc7f8645117bb0dec5552964a8988d3
()=default
Eigen::VectorXd
GetDerivativeOfPosWrtPhaseDuration
classtowr_1_1PhaseSpline.html
a4943ab70edc0d68e2fa4ac358d8cc0b8
(double t) const
NodesVariablesPhaseBased::Ptr
phase_nodes_
classtowr_1_1PhaseSpline.html
aeac043ede5ff91d514b975dc21f22257
towr::NodesVariablesPhaseBased::PolyInfo
structtowr_1_1NodesVariablesPhaseBased_1_1PolyInfo.html
PolyInfo
structtowr_1_1NodesVariablesPhaseBased_1_1PolyInfo.html
a7262e9b446b352bd1b6fbe0453837cc4
(int phase, int poly_in_phase, int n_polys_in_phase, bool is_const)
bool
is_constant_
structtowr_1_1NodesVariablesPhaseBased_1_1PolyInfo.html
abe37635f30c13c2bdbeec4da65118282
int
n_polys_in_phase_
structtowr_1_1NodesVariablesPhaseBased_1_1PolyInfo.html
ae85c797bc956e19e2cbb38ef7062d3ef
int
phase_
structtowr_1_1NodesVariablesPhaseBased_1_1PolyInfo.html
a250f2f86f82684e694366da2fe94f6f3
int
poly_in_phase_
structtowr_1_1NodesVariablesPhaseBased_1_1PolyInfo.html
aa7536e96986bd18df9be35eec5261ed8
towr::Polynomial
classtowr_1_1Polynomial.html
A
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba369332a0d4c06acd50d1524bf08824e3
B
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbac6c52d885234279430e73c3d42f96d4d
C
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbad39bc8dc0b217e6fca8f773f1d017449
Coefficients
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcb
A
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba369332a0d4c06acd50d1524bf08824e3
B
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbac6c52d885234279430e73c3d42f96d4d
C
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbad39bc8dc0b217e6fca8f773f1d017449
D
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba6dd07301496ea91925da3982ead8e76a
E
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaaba3352c0d0d6c0ad1462434d59332ec
F
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbac3f67d9a4da2ad6425a4092607edfec1
G
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba465ddea69214458de40c0a595c6f03b9
H
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaa4b0c8894d50e1f5d7f98a08a6d342d9
I
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba31ad1ecc8939b7b018898561390d05af
J
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaa26d9d78d412b926d20fdf2fa7b8a9a6
std::vector< Coefficients >
CoeffIDVec
classtowr_1_1Polynomial.html
a2a628b747ea5b5731e894d040c5dfb6b
D
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba6dd07301496ea91925da3982ead8e76a
E
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaaba3352c0d0d6c0ad1462434d59332ec
F
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbac3f67d9a4da2ad6425a4092607edfec1
G
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba465ddea69214458de40c0a595c6f03b9
H
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaa4b0c8894d50e1f5d7f98a08a6d342d9
I
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcba31ad1ecc8939b7b018898561390d05af
J
classtowr_1_1Polynomial.html
a543c7bbf5eac8bba79ab2e7d51d6adcbaa26d9d78d412b926d20fdf2fa7b8a9a6
Eigen::VectorXd
VectorXd
classtowr_1_1Polynomial.html
afe33355a2f85470371551154a6df3c02
double
GetDerivativeWrtCoeff
classtowr_1_1Polynomial.html
afb3cd75604610813a7206daab93d8de2
(double t, Dx poly_deriv, Coefficients coeff) const
State
GetPoint
classtowr_1_1Polynomial.html
a477b8f3237101b608ec86c9824d91270
(double t) const
Polynomial
classtowr_1_1Polynomial.html
a07bf79b425eea20aad175a45fead9edb
(int poly_order, int poly_dim)
virtual
~Polynomial
classtowr_1_1Polynomial.html
aebd2298852debe7858813fe43ea9b35e
()=default
std::vector< VectorXd >
coeff_
classtowr_1_1Polynomial.html
a8b140015016fa345426f3e9b19662632
CoeffIDVec
coeff_ids_
classtowr_1_1Polynomial.html
ab6d82a0afbbb691dcbe01d51fae88e6c
towr::QuadrupedGaitGenerator
classtowr_1_1QuadrupedGaitGenerator.html
towr::GaitGenerator
QuadrupedGaitGenerator
classtowr_1_1QuadrupedGaitGenerator.html
aacd22057d19a43aae184e8429d88c9b7
()
virtual
~QuadrupedGaitGenerator
classtowr_1_1QuadrupedGaitGenerator.html
af8206277720a687985e3c48bcb37aec1
()=default
GaitInfo
GetGait
classtowr_1_1QuadrupedGaitGenerator.html
ac08175670dd845eea3595c38486c9917
(Gaits gait) const override
GaitInfo
GetStrideBound
classtowr_1_1QuadrupedGaitGenerator.html
abd3feb579ef0afe1012e0828210e47e6
() const
GaitInfo
GetStrideBoundEnd
classtowr_1_1QuadrupedGaitGenerator.html
a535e52f748c6784142ba4ffb45d67f42
() const
GaitInfo
GetStrideFlight
classtowr_1_1QuadrupedGaitGenerator.html
a052afa04c462dee692ac42d4b45d94ef
() const
GaitInfo
GetStrideGallop
classtowr_1_1QuadrupedGaitGenerator.html
af57496bf8f81a25fd2043800af70b5a2
() const
GaitInfo
GetStrideLimp
classtowr_1_1QuadrupedGaitGenerator.html
aa67562c8518d8d9b2c604e2f348808c8
() const
GaitInfo
GetStridePace
classtowr_1_1QuadrupedGaitGenerator.html
acc1d5f214fafb2626193b0938e5fbf20
() const
GaitInfo
GetStridePaceEnd
classtowr_1_1QuadrupedGaitGenerator.html
a0354a1ead7bbc7af12780b70fa0ae76c
() const
GaitInfo
GetStridePronk
classtowr_1_1QuadrupedGaitGenerator.html
a3c36d664eb12ba19312e81145878619d
() const
GaitInfo
GetStrideStand
classtowr_1_1QuadrupedGaitGenerator.html
a14512aa862782441d851bced9631781a
() const
GaitInfo
GetStrideTrot
classtowr_1_1QuadrupedGaitGenerator.html
a180fb7839afc565abd0d09e414750549
() const
GaitInfo
GetStrideTrotFly
classtowr_1_1QuadrupedGaitGenerator.html
acddadc473c60fb1679fd993ed06ad424
() const
GaitInfo
GetStrideTrotFlyEnd
classtowr_1_1QuadrupedGaitGenerator.html
a0088ffcbaf944cab9d5920ae08fd540c
() const
GaitInfo
GetStrideWalk
classtowr_1_1QuadrupedGaitGenerator.html
a97d71befcafacf6b25f38e85ab643c64
() const
GaitInfo
GetStrideWalkOverlap
classtowr_1_1QuadrupedGaitGenerator.html
a0d15fc8df344065e8c72e7d517f4d3dd
() const
void
SetCombo
classtowr_1_1QuadrupedGaitGenerator.html
a1985386a5fa053942946198c0cf8ff75
(Combos combo) override
ContactState
bb_
classtowr_1_1QuadrupedGaitGenerator.html
ad333049376fc7799f92d7f1705ceb328
ContactState
Bb_
classtowr_1_1QuadrupedGaitGenerator.html
ae3291e0e0023312a2a7d5bf8d1e38baa
ContactState
bB_
classtowr_1_1QuadrupedGaitGenerator.html
a28928956c1ea96c7095ed196cb9c3c32
ContactState
BB_
classtowr_1_1QuadrupedGaitGenerator.html
a7ef23718d576ce2091621a3993aa5898
ContactState
bI_
classtowr_1_1QuadrupedGaitGenerator.html
ab3189f8c778d039f0e13538f54e31fb4
ContactState
BI_
classtowr_1_1QuadrupedGaitGenerator.html
a9bbd48c61614fbef5e32024777712cc4
ContactState
bP_
classtowr_1_1QuadrupedGaitGenerator.html
a6211335e676c9aceaff95955a3af3600
ContactState
BP_
classtowr_1_1QuadrupedGaitGenerator.html
a90a989c95d2ef655c368f3db16e03ad9
ContactState
Ib_
classtowr_1_1QuadrupedGaitGenerator.html
a415eff2f1ef6b604a029e951a5071a2a
ContactState
IB_
classtowr_1_1QuadrupedGaitGenerator.html
aaf302e03c927eeb3582e5e479eed7775
ContactState
II_
classtowr_1_1QuadrupedGaitGenerator.html
ae6c9e5150fa534e67aa1da5aa33b8bff
ContactState
IP_
classtowr_1_1QuadrupedGaitGenerator.html
a4ebcdfe195b3f5ed3d66f577217da332
ContactState
Pb_
classtowr_1_1QuadrupedGaitGenerator.html
a217eab6133caa5af721f227512fdfc96
ContactState
PB_
classtowr_1_1QuadrupedGaitGenerator.html
ab4c3921f4ea6c9ed5a25c0b8874a0155
ContactState
PI_
classtowr_1_1QuadrupedGaitGenerator.html
aaa51c3bf3a2b29574fb20aeaf6096463
ContactState
PP_
classtowr_1_1QuadrupedGaitGenerator.html
a724634779f05e074573b19d4f1193aa2
towr::RangeOfMotionConstraint
classtowr_1_1RangeOfMotionConstraint.html
towr::TimeDiscretizationConstraint
uint
EE
classtowr_1_1RangeOfMotionConstraint.html
ac25cefe28317118a5ba1cabc746f6e4e
Eigen::Vector3d
Vector3d
classtowr_1_1RangeOfMotionConstraint.html
aaf8477e702219992e9c429cff67c993e
RangeOfMotionConstraint
classtowr_1_1RangeOfMotionConstraint.html
a7a5d50fa5a7445ff22cdacd81cf31c7a
(const KinematicModel::Ptr &robot_model, double T, double dt, const EE &ee, const SplineHolder &spline_holder)
virtual
~RangeOfMotionConstraint
classtowr_1_1RangeOfMotionConstraint.html
ad4e319e13b6f597eae84560d7120cc86
()=default
int
GetRow
classtowr_1_1RangeOfMotionConstraint.html
a5bf53d6c4148d227612acd1c9d38d17f
(int node, int dimension) const
void
UpdateBoundsAtInstance
classtowr_1_1RangeOfMotionConstraint.html
a48260d2699de6d6876f4edcd6289b639
(double t, int k, VecBound &) const override
void
UpdateConstraintAtInstance
classtowr_1_1RangeOfMotionConstraint.html
acefd83fff93ddc8100c45db2c24832cb
(double t, int k, VectorXd &g) const override
void
UpdateJacobianAtInstance
classtowr_1_1RangeOfMotionConstraint.html
a1819e4dca16f956ffa3be273e8bd73ef
(double t, int k, std::string, Jacobian &) const override
EulerConverter
base_angular_
classtowr_1_1RangeOfMotionConstraint.html
a9f2fb3b84af6afc4ab275045e55899d0
NodeSpline::Ptr
base_linear_
classtowr_1_1RangeOfMotionConstraint.html
a4cd66f652d239de5c4b2070df4807c7f
EE
ee_
classtowr_1_1RangeOfMotionConstraint.html
a814f83ecd10d3f6dcb316ac3ad3d9354
NodeSpline::Ptr
ee_motion_
classtowr_1_1RangeOfMotionConstraint.html
a66cb7c4d6d3b221f31c9ca6271a56acc
Eigen::Vector3d
max_deviation_from_nominal_
classtowr_1_1RangeOfMotionConstraint.html
ad20877e9c11af073a5c5286b0c8bdf0d
Eigen::Vector3d
nominal_ee_pos_B_
classtowr_1_1RangeOfMotionConstraint.html
a1c43c68f10d0cc600efc213bf58a300f
towr::RobotModel
structtowr_1_1RobotModel.html
Anymal
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6a0c2018c4e500309f4d579f96e345df5a
Biped
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ac2a368e7ffb99022e39629c8a898298b
Hyq
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6a511eb9366d3a8866caeaa9b265d23aa9
Monoped
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ac221ea3e0d3dadfcd9cb470b3a7e3e0a
Robot
group__Robots.html
ga9cd74bf8fe751a01d26ed3a4b362b0f6
Monoped
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ac221ea3e0d3dadfcd9cb470b3a7e3e0a
Biped
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ac2a368e7ffb99022e39629c8a898298b
Hyq
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6a511eb9366d3a8866caeaa9b265d23aa9
Anymal
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6a0c2018c4e500309f4d579f96e345df5a
ROBOT_COUNT
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ad8765d70a92df3391f5b22fcaaacfe7f
ROBOT_COUNT
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ad8765d70a92df3391f5b22fcaaacfe7f
RobotModel
structtowr_1_1RobotModel.html
acd0b0dfe2640c102e164591522ca8cd6
()=default
RobotModel
structtowr_1_1RobotModel.html
a353fcbb40378273771342220032510d7
(Robot robot)
DynamicModel::Ptr
dynamic_model_
structtowr_1_1RobotModel.html
a4c5f831840739788e1fc45fc734cce8f
KinematicModel::Ptr
kinematic_model_
structtowr_1_1RobotModel.html
a1f8c263f2cb4a0126a75c64ae94ebdb0
towr::SingleRigidBodyDynamics
classtowr_1_1SingleRigidBodyDynamics.html
towr::DynamicModel
BaseAcc
GetDynamicViolation
classtowr_1_1SingleRigidBodyDynamics.html
aa2deef1914c896d2114493a789fe02c7
() const override
Jac
GetJacobianWrtBaseAng
classtowr_1_1SingleRigidBodyDynamics.html
a21ccb22a20ff0ea04922edba50a6cff1
(const EulerConverter &base_angular, double t) const override
Jac
GetJacobianWrtBaseLin
classtowr_1_1SingleRigidBodyDynamics.html
ab1c1e5f5c1da97a26e9a61c1aa2defd8
(const Jac &jac_base_lin_pos, const Jac &jac_acc_base_lin) const override
Jac
GetJacobianWrtEEPos
classtowr_1_1SingleRigidBodyDynamics.html
adcf7c385bfc415432f9106f928745673
(const Jac &jac_ee_pos, EE) const override
Jac
GetJacobianWrtForce
classtowr_1_1SingleRigidBodyDynamics.html
a150a4f24e5a73faba40f1e999ff93052
(const Jac &jac_force, EE) const override
SingleRigidBodyDynamics
classtowr_1_1SingleRigidBodyDynamics.html
a41cb261fbeea1ae8e643c578bab60861
(double mass, const Eigen::Matrix3d &inertia_b, int ee_count)
SingleRigidBodyDynamics
classtowr_1_1SingleRigidBodyDynamics.html
a2e8713d56a942cb9a0d69a2b869c8065
(double mass, double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz, int ee_count)
virtual
~SingleRigidBodyDynamics
classtowr_1_1SingleRigidBodyDynamics.html
ac9213607891065922510607472e3cd67
()=default
Eigen::SparseMatrix< double, Eigen::RowMajor >
I_b
classtowr_1_1SingleRigidBodyDynamics.html
aca452911155ff547a83683782e0678aa
towr::Slope
classtowr_1_1Slope.html
towr::HeightMap
double
GetHeight
classtowr_1_1Slope.html
af7c618865242b92efa3940b2541c471a
(double x, double y) const override
double
GetHeightDerivWrtX
classtowr_1_1Slope.html
a4fc00465cd5a41bfd517c1fdcad784eb
(double x, double y) const override
const double
down_length_
classtowr_1_1Slope.html
a03c0cf4fb9db42fc1f1c0555bd8ed294
const double
height_center
classtowr_1_1Slope.html
ae61d3a97d0f1ef17ac7e1c45f960a5be
const double
slope_
classtowr_1_1Slope.html
ac36ea2644123711064c7c07a3134e868
const double
slope_start_
classtowr_1_1Slope.html
aec88bcb8a4f665630c1c9e3c7d035c34
const double
up_length_
classtowr_1_1Slope.html
a311fc6ff132b9da8d1eada3c7823d0ae
const double
x_down_start_
classtowr_1_1Slope.html
af283b11314c1c2bab4ed690f70e68ee6
const double
x_flat_start_
classtowr_1_1Slope.html
aa8420a117a99088f07e6eb60a96edfd1
towr::SoftConstraint
classtowr_1_1SoftConstraint.html
ifopt::Component
Component::Ptr
ConstraintPtr
classtowr_1_1SoftConstraint.html
a2eb433e9d2ca698d6d20128196435885
SoftConstraint
classtowr_1_1SoftConstraint.html
ace537113e8b68b1667193317590ba35d
(const ConstraintPtr &constraint)
virtual
~SoftConstraint
classtowr_1_1SoftConstraint.html
a1da05c587f6425602b92bfd3fd7717e0
()=default
VecBound
GetBounds
classtowr_1_1SoftConstraint.html
af26c06768b06b3a3030ee9a511259863
() const final
Jacobian
GetJacobian
classtowr_1_1SoftConstraint.html
a61880b2d41ac12ac64fc4e5127d57d3e
() const override
VectorXd
GetValues
classtowr_1_1SoftConstraint.html
a78fa11c709604008b06cf03f043e3237
() const override
void
SetVariables
classtowr_1_1SoftConstraint.html
a93e8190a088b8ea374c6d6571f45b100
(const VectorXd &x) final
VectorXd
b_
classtowr_1_1SoftConstraint.html
acee0c9ad3fa4a606fa12d03f38f36fd9
ConstraintPtr
constraint_
classtowr_1_1SoftConstraint.html
a9b7bc4fb64aabb5e242d43c7d88633c4
VectorXd
W_
classtowr_1_1SoftConstraint.html
a29f946eff9ede86c27093079c08c4170
towr::Spline
classtowr_1_1Spline.html
std::vector< CubicHermitePolynomial >
VecPoly
classtowr_1_1Spline.html
acccbb25fd95d6d57cc310e19e001b99e
std::vector< double >
VecTimes
classtowr_1_1Spline.html
a0bdfd4aab4f86ac275ccf834e2d59387
const State
GetPoint
classtowr_1_1Spline.html
a658752d190854d33f2853aa6bf773954
(double t) const
const State
GetPoint
classtowr_1_1Spline.html
ab7562a8a7c73d87c73812ee83d2d8bd7
(int poly_id, double t_local) const
VecTimes
GetPolyDurations
classtowr_1_1Spline.html
aeadbe313c37678cc693161365a077e55
() const
int
GetPolynomialCount
classtowr_1_1Spline.html
a21d53428c3258def3aaa8cdcf135568a
() const
double
GetTotalTime
classtowr_1_1Spline.html
ab19caa094e08d36888beca4b66d55f35
() const
Spline
classtowr_1_1Spline.html
a059b55bf0547a97c9aab9be18bba3bad
(const VecTimes &poly_durations, int n_dim)
virtual
~Spline
classtowr_1_1Spline.html
a5b68a7d3a2e3bd66d8d3d0b1c06c45a9
()=default
static int
GetSegmentID
classtowr_1_1Spline.html
acb2b4e6693cff7bea8eb3f32452d42a2
(double t_global, const VecTimes &durations)
std::pair< int, double >
GetLocalTime
classtowr_1_1Spline.html
ad76069a0b774aaf58d675872e14df9f4
(double t_global, const VecTimes &d) const
void
UpdatePolynomialCoeff
classtowr_1_1Spline.html
a3208fbf383a4c69f8ee18486152a6f2e
()
VecPoly
cubic_polys_
classtowr_1_1Spline.html
a65d064567733492c05401033d4a925e8
towr::SplineAccConstraint
classtowr_1_1SplineAccConstraint.html
ifopt::ConstraintSet
void
FillJacobianBlock
classtowr_1_1SplineAccConstraint.html
ae4895edc41c9d6c29e39ee2ef5093d88
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1SplineAccConstraint.html
ad820b44fb523b46ff2d27e7e784d5f87
() const override
VectorXd
GetValues
classtowr_1_1SplineAccConstraint.html
a6a872636ba26d70acf5972451978db30
() const override
SplineAccConstraint
classtowr_1_1SplineAccConstraint.html
adf67464c035ab5de6c5bc4c053e5dfab
(const NodeSpline::Ptr &spline, std::string name)
virtual
~SplineAccConstraint
classtowr_1_1SplineAccConstraint.html
afee212fb5ebfad9f509c4fbe811a3151
()=default
int
n_dim_
classtowr_1_1SplineAccConstraint.html
acf4eb6fee8ee85b90ac4e4ffc3851b05
int
n_junctions_
classtowr_1_1SplineAccConstraint.html
aebc34b69f7daec1c21df66a65a353791
std::string
node_variables_id_
classtowr_1_1SplineAccConstraint.html
aa324719827d588f3a52677a983244449
NodeSpline::Ptr
spline_
classtowr_1_1SplineAccConstraint.html
a4e8a2405a268ef9ec89babadf914f4cf
std::vector< double >
T_
classtowr_1_1SplineAccConstraint.html
ab7245c4ffe07e37a7177dfd472b8f8b7
towr::SplineHolder
structtowr_1_1SplineHolder.html
SplineHolder
structtowr_1_1SplineHolder.html
a64a7844039e8cc49d8a226682b7f2841
(NodesVariables::Ptr base_lin, NodesVariables::Ptr base_ang, const std::vector< double > &base_poly_durations, std::vector< NodesVariablesPhaseBased::Ptr > ee_motion, std::vector< NodesVariablesPhaseBased::Ptr > ee_force, std::vector< PhaseDurations::Ptr > phase_durations, bool ee_durations_change)
SplineHolder
structtowr_1_1SplineHolder.html
a65d4aa2f5fde8e201fad141b97c30eb7
()=default
NodeSpline::Ptr
base_angular_
structtowr_1_1SplineHolder.html
a97b703b3118c5f93fc6c443bff3ccb80
NodeSpline::Ptr
base_linear_
structtowr_1_1SplineHolder.html
abe0b01ab3cf09ab88016e3b432060d54
std::vector< NodeSpline::Ptr >
ee_force_
structtowr_1_1SplineHolder.html
a0adb14a05263667e621a1b958e66620e
std::vector< NodeSpline::Ptr >
ee_motion_
structtowr_1_1SplineHolder.html
a0ef7acf0c9240c5b2adc7f30a6231e3c
std::vector< PhaseDurations::Ptr >
phase_durations_
structtowr_1_1SplineHolder.html
a3294767a959653e994c9321cba28f766
towr::Stairs
classtowr_1_1Stairs.html
towr::HeightMap
double
GetHeight
classtowr_1_1Stairs.html
a923f67b10f87931f9b4928f0a91cffab
(double x, double y) const override
double
first_step_start_
classtowr_1_1Stairs.html
ad0fb0d4efbe99325bf44ba54356edf60
double
first_step_width_
classtowr_1_1Stairs.html
a0238f68766a892dac433a540d549d741
double
height_first_step
classtowr_1_1Stairs.html
a3f8558d130630e65b5d30e47a338cd38
double
height_second_step
classtowr_1_1Stairs.html
a0b4334cf132c615c7b72138b99511da0
double
width_top
classtowr_1_1Stairs.html
a152ce5620253f68f405eca6a2f1d0a2a
towr::State
classtowr_1_1State.html
Eigen::VectorXd
VectorXd
classtowr_1_1State.html
a77ab49135b92456239847818435773da
const VectorXd
a
classtowr_1_1State.html
ae64b719a7d496f18bcb0dbdbec4588f8
() const
const VectorXd
at
classtowr_1_1State.html
a77ce454d97f40d0c991d4ce1998656c4
(Dx deriv) const
VectorXd &
at
classtowr_1_1State.html
af75250b16c773404e37bf9367c4d05ca
(Dx deriv)
const VectorXd
p
classtowr_1_1State.html
a0d53993ea7e93184cb7c2010f14913ab
() const
State
classtowr_1_1State.html
aa55d5d87dbc2478022d0be1cf37a1bcd
(int dim, int n_derivatives)
const VectorXd
v
classtowr_1_1State.html
a41fd6cacde9df8a20186c3f189ad6fe8
() const
virtual
~State
classtowr_1_1State.html
aa8fcbe04efafaab37d2085f576955c1a
()=default
std::vector< VectorXd >
values_
classtowr_1_1State.html
ae3b70b41a5a203751fb3f5c5eab1a974
towr::SwingConstraint
classtowr_1_1SwingConstraint.html
ifopt::ConstraintSet
Eigen::Vector2d
Vector2d
classtowr_1_1SwingConstraint.html
a649e291b4e9b36330e79de8417470244
void
FillJacobianBlock
classtowr_1_1SwingConstraint.html
aee9fe27b85cd367893206b05602faa69
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1SwingConstraint.html
a1ec6aa8736f72a9d9af9e26899266e59
() const override
VectorXd
GetValues
classtowr_1_1SwingConstraint.html
a184b57887ca9e1c157c60cec4d4e0bdb
() const override
void
InitVariableDependedQuantities
classtowr_1_1SwingConstraint.html
a05f82d8519363330cf4b044cc492249b
(const VariablesPtr &x) override
SwingConstraint
classtowr_1_1SwingConstraint.html
aed0d74fd4bf710955ee1aecf3ff6d1a8
(std::string ee_motion_id)
virtual
~SwingConstraint
classtowr_1_1SwingConstraint.html
a6c736deab7e8d4ad58e5ee5b46591362
()=default
NodesVariablesPhaseBased::Ptr
ee_motion_
classtowr_1_1SwingConstraint.html
a6f57eb8a7a81526d1afc8b2b1a29b420
std::string
ee_motion_id_
classtowr_1_1SwingConstraint.html
a48e6ac7c5c3be736462ce56b15de3acf
std::vector< int >
pure_swing_node_ids_
classtowr_1_1SwingConstraint.html
a478cca7940c0ece5bb8e6c978fbc1c7b
double
t_swing_avg_
classtowr_1_1SwingConstraint.html
a6825141b3fb0401cdbe8d37ec42844c8
towr::TerrainConstraint
classtowr_1_1TerrainConstraint.html
ifopt::ConstraintSet
Eigen::Vector3d
Vector3d
classtowr_1_1TerrainConstraint.html
a876e0ae28273a28ea3f14364a2eacb19
void
FillJacobianBlock
classtowr_1_1TerrainConstraint.html
afa95ab6784260870164c4c1d0cf36960
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1TerrainConstraint.html
a773c94a18b3a4f8d38bea68c48b4f9cc
() const override
VectorXd
GetValues
classtowr_1_1TerrainConstraint.html
a01283a09855909fa31d9da99dc7371a7
() const override
void
InitVariableDependedQuantities
classtowr_1_1TerrainConstraint.html
a837de5fc54b6c2840a7beea478072b60
(const VariablesPtr &x) override
TerrainConstraint
classtowr_1_1TerrainConstraint.html
afe4a34274b83dbd9d8220274bd0128e4
(const HeightMap::Ptr &terrain, std::string ee_motion_id)
virtual
~TerrainConstraint
classtowr_1_1TerrainConstraint.html
a65457ca1a2637b9c1d21f2e85189a47d
()=default
NodesVariablesPhaseBased::Ptr
ee_motion_
classtowr_1_1TerrainConstraint.html
a4c317fadd38d999aef5479b2732ac1d0
std::string
ee_motion_id_
classtowr_1_1TerrainConstraint.html
ad9d6bcceb5e5c8dc1b3617f19692fe13
std::vector< int >
node_ids_
classtowr_1_1TerrainConstraint.html
a376bdfb280195c25143c0ea7ac785ee2
HeightMap::Ptr
terrain_
classtowr_1_1TerrainConstraint.html
a999e130c59bb4f71878f230b58e172de
towr::TimeDiscretizationConstraint
classtowr_1_1TimeDiscretizationConstraint.html
ifopt::ConstraintSet
ifopt::Bounds
Bounds
classtowr_1_1TimeDiscretizationConstraint.html
a728d93a32f946bcf6f9b3452ec189e51
std::vector< double >
VecTimes
classtowr_1_1TimeDiscretizationConstraint.html
a1e5c341fda71497aff90efbc7f62998b
void
FillJacobianBlock
classtowr_1_1TimeDiscretizationConstraint.html
af62238da8286b33638bb9af7a8101a3e
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1TimeDiscretizationConstraint.html
ac4907e2389590d6977e90c3116ea1364
() const override
Eigen::VectorXd
GetValues
classtowr_1_1TimeDiscretizationConstraint.html
afe2a94d825dd100f1059fe8d9cd5a761
() const override
TimeDiscretizationConstraint
classtowr_1_1TimeDiscretizationConstraint.html
af0d91a9406aadce1855c3c40956bf3a2
(double T, double dt, std::string constraint_name)
TimeDiscretizationConstraint
classtowr_1_1TimeDiscretizationConstraint.html
a23521257509a1920d029a0c7bc6dd1a9
(const VecTimes &dts, std::string name)
virtual
~TimeDiscretizationConstraint
classtowr_1_1TimeDiscretizationConstraint.html
a8d8d1849e2674f427e761b1b8e1238f3
()=default
int
GetNumberOfNodes
classtowr_1_1TimeDiscretizationConstraint.html
ac6c9994bc754a93a053d24462be20d26
() const
VecTimes
dts_
classtowr_1_1TimeDiscretizationConstraint.html
a36c328a9d3ab44a4c94b5a47b968a15e
virtual void
UpdateBoundsAtInstance
classtowr_1_1TimeDiscretizationConstraint.html
a7916a9c62b8815814ad78cf3c813616a
(double t, int k, VecBound &b) const =0
virtual void
UpdateConstraintAtInstance
classtowr_1_1TimeDiscretizationConstraint.html
ac0135daec3b5fa2b09c501b503f31395
(double t, int k, VectorXd &g) const =0
virtual void
UpdateJacobianAtInstance
classtowr_1_1TimeDiscretizationConstraint.html
a2e5d2d7dfe92b4f6316869e02902770b
(double t, int k, std::string var_set, Jacobian &jac) const =0
towr::TotalDurationConstraint
classtowr_1_1TotalDurationConstraint.html
ifopt::ConstraintSet
uint
EE
classtowr_1_1TotalDurationConstraint.html
a11d94885111e06535e4ee7552a5fa94a
void
FillJacobianBlock
classtowr_1_1TotalDurationConstraint.html
a3c969587cc8710ce5cfa1bad2a1a316d
(std::string var_set, Jacobian &) const override
VecBound
GetBounds
classtowr_1_1TotalDurationConstraint.html
a3dad6ad9fc7cb4056d7b46f1c364d4cf
() const override
VectorXd
GetValues
classtowr_1_1TotalDurationConstraint.html
a623b76a52bb0b5bf9651848c9227ff42
() const override
void
InitVariableDependedQuantities
classtowr_1_1TotalDurationConstraint.html
ae739635f15c833b98f178524e3722f9a
(const VariablesPtr &x) override
TotalDurationConstraint
classtowr_1_1TotalDurationConstraint.html
adea6c57fb7ae8fabc5da86456ce38525
(double T_total, int ee)
~TotalDurationConstraint
classtowr_1_1TotalDurationConstraint.html
a77bdc1372b268501ef31f558035355db
()=default
EE
ee_
classtowr_1_1TotalDurationConstraint.html
a33766e92f55d0ebe906deee627f3a4c6
PhaseDurations::Ptr
phase_durations_
classtowr_1_1TotalDurationConstraint.html
a19d385aea664c25db1875f9493a08e12
double
T_total_
classtowr_1_1TotalDurationConstraint.html
a69792e6c31f0af719ace297fed40c8ba
towr
namespacetowr.html
towr::id
towr::AnymalDynamicModel
towr::AnymalKinematicModel
towr::BaseMotionConstraint
towr::BaseState
towr::BipedDynamicModel
towr::BipedGaitGenerator
towr::BipedKinematicModel
towr::Block
towr::Chimney
towr::ChimneyLR
towr::CubicHermitePolynomial
towr::DynamicConstraint
towr::DynamicModel
towr::EulerConverter
towr::FlatGround
towr::ForceConstraint
towr::GaitGenerator
towr::Gap
towr::HeightMap
towr::HyqDynamicModel
towr::HyqKinematicModel
towr::KinematicModel
towr::LinearEqualityConstraint
towr::MonopedDynamicModel
towr::MonopedGaitGenerator
towr::MonopedKinematicModel
towr::NlpFormulation
towr::Node
towr::NodeCost
towr::NodesObserver
towr::NodeSpline
towr::NodesVariables
towr::NodesVariablesAll
towr::NodesVariablesEEForce
towr::NodesVariablesEEMotion
towr::NodesVariablesPhaseBased
towr::Parameters
towr::PhaseDurations
towr::PhaseDurationsObserver
towr::PhaseSpline
towr::Polynomial
towr::QuadrupedGaitGenerator
towr::RangeOfMotionConstraint
towr::RobotModel
towr::SingleRigidBodyDynamics
towr::Slope
towr::SoftConstraint
towr::Spline
towr::SplineAccConstraint
towr::SplineHolder
towr::Stairs
towr::State
towr::SwingConstraint
towr::TerrainConstraint
towr::TimeDiscretizationConstraint
towr::TotalDurationConstraint
Eigen::VectorXd
VectorXd
namespacetowr.html
a0edeb5b8cd551b3f0d34caa31610bf80
BipedIDs
namespacetowr.html
abd21c8535a8957867f86270a0e6bece9
L
namespacetowr.html
abd21c8535a8957867f86270a0e6bece9ac43473101800f082959a32167bd54208
R
namespacetowr.html
abd21c8535a8957867f86270a0e6bece9a3f9a8dc03e67d52c7278ddb10160b947
Dim2D
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22
X_
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22aa48e85b666356ba14014d3536d7d3c76
Y_
namespacetowr.html
a1a0c8b151ec2a7687514976c31650a22ae61c89de600253b7fc91477fe59a8036
Dim3D
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1ab
X
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba7296aa172d6a26b5e3e902b6eea2cd71
Y
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba3c49225a1786df3372154971a2b84531
Z
namespacetowr.html
a4d08165b4eab0745756df9fc209fd1aba0dbc36c12672f2b47a0a7e1437c42c96
Dim6D
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1
AX
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a355f87b306764c9c6be5dbbbb2493e1c
AY
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a6412b99c699425165783fbda7fc99f16
AZ
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1aec9ae16c09af83e36aeca46204975b08
LX
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1adecb79d0fec84980cd473a0fa84268ac
LY
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1a28b5595514ff769c3fd7ea610c3eb821
LZ
namespacetowr.html
a670c4bc59f125b26a19be55cdc1b1ba1add512fe7eb81591d3f5b55abea4ae67c
Dx
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4
kPos
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4abaaf8574a6b8ac2047a89314cd0bcc59
kVel
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4ac5df19accc626a63e47c984c38771135
kAcc
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4a4dd0dbeb9c444e072b85f2ed03ba89bb
kJerk
namespacetowr.html
a24777bebf1378b1380c310be10fa98a4a2743db3a31c3ec85d29f114fb5a31f45
QuadrupedIDs
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65
LF
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65aa1707fa443b4166dd0e986842e5c11ca
RF
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65a560fd5fdad40bf421c81b483134740b9
LH
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65a93c33169c192d84dc66d22ac53463b40
RH
namespacetowr.html
a94b9a6ef1b746aaa2e6bd673a1b44f65ac6642d1a1d33dacca943f8e6a8a279e4
static Eigen::Matrix3d
BuildInertiaTensor
namespacetowr.html
af172c1b6ab15396f6470aea1be58ab23
(double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz)
std::vector< NodesVariablesPhaseBased::PolyInfo >
BuildPolyInfos
namespacetowr.html
a5b143da03aeb595b7e2d0e5b80108742
(int phase_count, bool first_phase_constant, int n_polys_in_changing_phase)
SingleRigidBodyDynamics::Jac
Cross
namespacetowr.html
acfe315f019bcbdce13e55bd421c45f76
(const Eigen::Vector3d &in)
TEST
namespacetowr.html
a8f146d1f4a22620244c028ef9a73a9f0
(DynamicModelTest, GetBaseAcceleration)
TEST
namespacetowr.html
a697b29a96c19095c36f5e11f2ab1771b
(DynamicConstraintTest, UpdateConstraintValues)
TEST
namespacetowr.html
a78669bed527ee705b38adc8850fee7c8
(DynamicModelTest, GetJacobianOfAccWrtBase)
TEST
namespacetowr.html
a1b35565b533ccdb1b6892e923d3fb82e
(DynamicModelTest, TestRotations)
static Dim2D
To2D
namespacetowr.html
ae6322a84caddb2b6cdcd87a64f75bb26
(Dim3D dim)
static const Dim6D
AllDim6D
namespacetowr.html
a60191bac09e48281aa7dd724f8d68fa5
[]
static constexpr int
k2D
namespacetowr.html
a3e763b542b4de7f794902ab46d6dfe69
static constexpr int
k3D
namespacetowr.html
a3525aa8198bc9d9b12f3a7461874597e
static constexpr int
k6D
namespacetowr.html
abd44e13e224990ecfbb0ea1e3604cfe5
static const std::map< RobotModel::Robot, std::string >
robot_names
namespacetowr.html
a338a4a07bfb7dc407d4f7c0bbf3fd483
static const std::map< HeightMap::TerrainID, std::string >
terrain_names
namespacetowr.html
a261e70e765d5d6c6e5b0db87fa4d202a
towr::id
namespacetowr_1_1id.html
static std::string
EEForceNodes
namespacetowr_1_1id.html
a0e8c73586112430487e09f8307a9d87b
(uint ee)
static std::string
EEMotionNodes
namespacetowr_1_1id.html
a7726d3fdd457eb524e36c61eade33028
(uint ee)
static std::string
EESchedule
namespacetowr_1_1id.html
a8f80e25273a9c85f3e05f3f279981d66
(uint ee)
static const std::string
base_ang_nodes
namespacetowr_1_1id.html
a406150bbf05b49fa1b585c3793f0f42e
static const std::string
base_lin_nodes
namespacetowr_1_1id.html
a39732e8275916045b97bf469d979d7cb
static const std::string
contact_schedule
namespacetowr_1_1id.html
a20b32623aeb92201988fc1235cabf686
static const std::string
ee_force_nodes
namespacetowr_1_1id.html
a014be77d88ecbe62f9f12c3bf089e4b9
static const std::string
ee_motion_nodes
namespacetowr_1_1id.html
af88549c5b4ba2c4bfc1e0c79d6d42efd
Robots
Robots
group__Robots.html
towr::DynamicModel
towr::KinematicModel
towr::RobotModel
towr::SingleRigidBodyDynamics
Robot
group__Robots.html
ga9cd74bf8fe751a01d26ed3a4b362b0f6
Monoped
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ac221ea3e0d3dadfcd9cb470b3a7e3e0a
Biped
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ac2a368e7ffb99022e39629c8a898298b
Hyq
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6a511eb9366d3a8866caeaa9b265d23aa9
Anymal
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6a0c2018c4e500309f4d579f96e345df5a
ROBOT_COUNT
group__Robots.html
gga9cd74bf8fe751a01d26ed3a4b362b0f6ad8765d70a92df3391f5b22fcaaacfe7f
Constraints
Constraints
group__Constraints.html
towr::BaseMotionConstraint
towr::DynamicConstraint
towr::ForceConstraint
towr::LinearEqualityConstraint
towr::RangeOfMotionConstraint
towr::SplineAccConstraint
towr::SwingConstraint
towr::TerrainConstraint
towr::TimeDiscretizationConstraint
towr::TotalDurationConstraint
Costs
Costs
group__Costs.html
towr::NodeCost
towr::SoftConstraint
Parameters
Parameters
group__Parameters.html
towr::Parameters
Terrains
Terrains
group__Terrains.html
towr::Block
towr::Chimney
towr::ChimneyLR
towr::FlatGround
towr::Gap
towr::HeightMap
towr::Slope
towr::Stairs
Variables
Variables
group__Variables.html
towr::id
towr::NodesVariables
towr::NodesVariablesAll
towr::NodesVariablesEEForce
towr::NodesVariablesEEMotion
towr::NodesVariablesPhaseBased
towr::PhaseDurations
index
TOWR - Trajectory Optimizer for Walking Robots
index