Class MinimumEffort::ComputeGTauGradient

Nested Relationships

This class is a nested type of Class MinimumEffort.

Inheritance Relationships

Base Type

Class Documentation

class ComputeGTauGradient : public CostFunction

The ComputeGTauGradient class implements a worker class to computes the effort for a certain configuration.

It will take into account the robot as standing on a flat floor, and while computing the gradient, we will assume a foot is on the ground. Notice that the way we compute the gradient does not satisfy the constraints of both flat foot on the ground. So in general this simple implementation of the gradient worker needs to be used in a minimum effort task together with a constraint (or a higher priority task) for the swing foot.

Public Functions

inline ComputeGTauGradient(const XBot::ModelInterface &robot_model)
inline virtual double compute(const Eigen::VectorXd &q)

compute value of function in x

Parameters

x –

Returns

scalar

inline void setW(const Eigen::MatrixXd &W)
inline const Eigen::MatrixXd &getW() const

Public Members

XBot::ModelInterface::Ptr _robot
const XBot::ModelInterface &_model
Eigen::MatrixXd _W
Eigen::VectorXd _tau
Eigen::VectorXd _tau_lim