A time scaling with torque/contact constraints. More...
#include <ContactTimeScaling.h>
Inheritance diagram for ContactTimeScaling:
Public Member Functions | |
| ContactTimeScaling (Robot &robot) | |
| bool | SetParams (const MultiPath &path, const vector< Real > &colocationParams, int numFCEdges=4) |
| bool | Check (const MultiPath &path) |
| double-check whether the solution is actually feasible | |
 Public Member Functions inherited from CustomTimeScaling | |
| CustomTimeScaling (Robot &robot) | |
| void | SetPath (const GeneralizedCubicBezierSpline &path, const vector< Real > &colocationParams) |
| Sets up the path. | |
| void | SetPath (const MultiPath &path, const vector< Real > &colocationParams) |
| Sets up the path – multipath version. | |
| void | SetStartStop () |
| Sets up the path to start and stop at zero velocity. | |
| void | SetDefaultBounds () |
| Sets up velocity and acceleration bounds. | |
| bool | Optimize () |
| Runs the optimizer with the custom constraints. | |
| bool | IsFeasible (const vector< Real > &ds) const |
| Returns true if the time scaling derivatives are feasible under the current constraints. | |
| void | PrintActiveConstraints (ostream &out) |
| After running Optimize, prints out all the active constraints. | |
Public Attributes | |
| Real | torqueLimitShift |
| offsets the torque limits by a fixed amount (default 0) | |
| Real | torqueLimitScale |
| from 0 to 1, scales the torque limits (default 1) | |
| Real | frictionRobustness |
| from 0 to 1, indicates the amount of increased robustness in friction cones (default 0) | |
| Real | forceRobustness |
| >= 0, indicates the absolute margin for forces to be contained within the friction cone | |
| Public Attributes inherited from CustomTimeScaling | |
| RobotCSpace | cspace |
| TimeScaledBezierCurve | traj |
| Output trajectory. | |
| vector< Real > | paramDivs |
| colocation grid | |
| vector< int > | paramSections |
| index from grid to section of multipath, if multipath is given | |
| vector< Vector > | xs |
| colocation points | |
| vector< Vector > | dxs |
| vector< Vector > | ddxs |
| vector< Real > | dsmax |
| time scaling maxima. Defaults to Inf | |
| vector< vector< Vector2 > > | ds2ddsConstraintNormals |
| vector< vector< Real > > | ds2ddsConstraintOffsets |
| bool | saveConstraintNames |
| Names of each constraint plane. | |
| vector< vector< string > > | ds2ddsConstraintNames |
| bool | computeLagrangeMultipliers |
| Whether the lagrange multipliers of a solution are requested. | |
| vector< Real > | variableLagrangeMultipliers |
| vector< vector< Real > > | constraintLagrangeMultipliers |
Detailed Description
A time scaling with torque/contact constraints.
Uses dynamic equation B(q)*q''+C(q,q')+G(q) = t+J^T(q)*f |t| <= tmax f FC with f being the contact forces, J being the jacobian of the contact points, tmax being the torque limits, and FC being the (polygonalized) friction cones.
Can shift/scale torque limits, reduce the friction coefficients, and add a robustness margin to the friction cones.
Member Function Documentation
| bool ContactTimeScaling::SetParams | ( | const MultiPath & | path, |
| const vector< Real > & | colocationParams, | ||
| int | numFCEdges = 4 |
||
| ) |
Uses the stances inside the multipath to determine the contacts. Discretizes friction cone into pyramid with numFCEdges edges.
The documentation for this class was generated from the following file:
