Drake
QPLocomotionPlanSettings Struct Reference

#include <drake/systems/robotInterfaces/QPLocomotionPlan.h>

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Public Types

typedef std::map< std::string, Eigen::Matrix3Xd > ContactNameToContactPointsMap
 

Public Member Functions

 QPLocomotionPlanSettings ()
 
void addSupport (const RigidBodySupportState &support_state, const ContactNameToContactPointsMap &contact_group_name_to_contact_points, double duration_in)
 

Static Public Member Functions

static KneeSettings createDefaultKneeSettings ()
 
static std::vector< intfindPositionIndices (RigidBodyTree< double > &robot, const std::vector< std::string > &joint_name_substrings)
 

Public Attributes

double duration
 
std::vector< RigidBodySupportStatesupports
 
std::vector< doublesupport_times
 
std::vector< ContactNameToContactPointsMapcontact_groups
 
std::vector< boolplanned_support_command
 
double early_contact_allowed_fraction
 
std::vector< BodyMotionDatabody_motions
 
PiecewisePolynomial< doublezmp_trajectory
 
TVLQRData zmp_data
 
Eigen::MatrixXd D_control
 
QuadraticLyapunovFunction V
 
PiecewisePolynomial< doubleq_traj
 
ExponentialPlusPiecewisePolynomial< doublecom_traj
 
std::string gain_set
 
double mu
 
bool use_plan_shift
 
std::vector< Eigen::Index > plan_shift_body_motion_indices
 
double g
 
double min_foot_shift_delay
 
bool is_quasistatic
 
KneeSettings knee_settings
 
double ankle_limits_tolerance
 
std::string pelvis_name
 
std::map< Side, std::string > foot_names
 
std::map< Side, std::string > knee_names
 
std::map< Side, std::string > aky_names
 
std::map< Side, std::string > akx_names
 
double zmp_safety_margin
 
std::vector< intconstrained_position_indices
 
std::vector< intuntracked_position_indices
 

Member Typedef Documentation

typedef std::map<std::string, Eigen::Matrix3Xd> ContactNameToContactPointsMap

Constructor & Destructor Documentation

Member Function Documentation

void addSupport ( const RigidBodySupportState support_state,
const ContactNameToContactPointsMap contact_group_name_to_contact_points,
double  duration_in 
)
inline

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static KneeSettings createDefaultKneeSettings ( )
inlinestatic

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static std::vector<int> findPositionIndices ( RigidBodyTree< double > &  robot,
const std::vector< std::string > &  joint_name_substrings 
)
inlinestatic

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Member Data Documentation

std::map<Side, std::string> akx_names
std::map<Side, std::string> aky_names
double ankle_limits_tolerance
std::vector<BodyMotionData> body_motions
std::vector<int> constrained_position_indices
Eigen::MatrixXd D_control
double duration
double early_contact_allowed_fraction
std::map<Side, std::string> foot_names
double g
std::string gain_set
bool is_quasistatic
std::map<Side, std::string> knee_names
KneeSettings knee_settings
double min_foot_shift_delay
double mu
std::string pelvis_name
std::vector<Eigen::Index> plan_shift_body_motion_indices
std::vector<bool> planned_support_command
std::vector<double> support_times
std::vector<int> untracked_position_indices
bool use_plan_shift
TVLQRData zmp_data
double zmp_safety_margin
PiecewisePolynomial<double> zmp_trajectory

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