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towr package from towr repo

towr towr_ros

Package Summary

Tags No category tags.
Version 1.4.1
License BSD
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ethz-adrl/towr.git
VCS Type git
VCS Version master
Last Updated 2019-04-12
Dev Status DEVELOPED
Released RELEASED

Package Description

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. This library provides implementations for variables, costs and constraints that can be used to represent a legged locomotion problem. The resulting Nonlinear Programming Problem (NLP) can then be solved with off-the-shelf solvers, e.g. Ipopt using the generic optimizer interface

Additional Links

Maintainers

  • Alexander W. Winkler

Authors

  • Alexander W. Winkler
README
No README found. See repository README.
CHANGELOG

Changelog for package towr

1.4.1 (2019-04-05)

  • Merge pull request (#56) from ethz-adrl/expose-params
  • add explanation for assert in phase_durations
  • Merge branch \'sweetie-bot-project-feat/access-optimization-parameteres\' into expose-params
  • Optimize GetPhaseDurations(). Remove unnecessary GetNormalizedPhaseDurations().
  • Make GaitGenerator::SetGaits() method public.
  • Move default parameter values to header.
  • Use pair<double,double> instead of array<double,2> to store bounds.
  • Expose contstraints and costs field to user. Remove unnecessary private functions.
  • Add missing underscore postfix for bounds_final variables.
  • Take into account weights of the costs. (#51)
  • Contributors: Alexander Winkler, Mathieu Geisert, awinkler, disRecord

1.4.0 (2018-07-30)

  • Simplify extension / adding own formulation (#38)
  • Facilitate towr_ros user extension (#34)
  • Greatly simplify phase node formulations (#33)
  • keep overview in github readme, not separated into doxygen & github
  • rename CD to SRBD and improve documentation
  • rename nodes to node variables
  • Contributors: Alexander Winkler

1.3.2 (2018-07-17)

  • adapt to more generic ifopt solver interface.
  • Improve doxygen (#26)
    • add overview on main doxygen landing
    • add doxygen groups to variables/constraints/costs
    • add parameter explanation
  • Contributors: Alexander Winkler

1.3.1 (2018-07-10)

  • Improve API (#23)
  • Remove redundant total time (duration set by endeffectors)
  • Contributors: Alexander Winkler

1.3.0 (2018-07-07)

  • add sample gaits for mono-, bi- and quadruped
  • Contributors: Alexander Winkler

1.2.2 (2018-07-03)

  • remove controller specifc code from towr_ros
  • moved height map from towr_ros to towr
  • moved robots models and gait generator from towr_ros to towr
  • move dynamic and kinematic models from towr_ros -> towr
  • remove all catkin macros from towr::CMakeLists.txt
  • Contributors: Alexander Winkler

1.2.1 (2018-06-30)

  • set parameters for hyq and terrains examples
  • rename constraints and variables for more consistency
  • renamed main library (towr_core -> towr) and removed ros meta package
  • Contributors: Alexander Winkler

1.2.0 (2018-06-25)

  • allow building with pure cmake (catkin optional)
  • adapt to version 2.0.0 of ifopt (#17)
  • add derivative of system dynamics w.r.t angular orientation
  • Improve centroidal dynamics model and add continuous base acceleration constraint
  • Fix final base and footholds through constraint
  • Separate ifopt solver from towr and towr to header+source file
  • Contributors: Alexander Winkler

1.1.0 (2018-02-06)

  • add metapackage towr and move algorithm to towr_core
  • create separate ros independent example package \"towr_ros\"
  • replaced ros-keyboard dependency with ncurses
  • moved all robot specific model/gait generators out of towr -> towr_ros
  • use only one unified represenatation for nodes and states
  • remove xpp states dependency
  • added base_nodes class that derives from node_variables
  • add observer pattern (spline observes node_values and contact_schedule)
  • added spline_holder to not always have to reconstruct from variables
  • separated spline and node values
  • adapted to changed ifopt namespace (opt -> ifopt)
  • removed unused variables in polynomial
  • renamed pkg from xpp_opt to towr
  • Contributors: Alexander Winkler

1.0.0 (2017-09-19)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 ifopt

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged towr at answers.ros.org

towr package from towr repo

towr towr_ros

Package Summary

Tags No category tags.
Version 1.4.1
License BSD
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ethz-adrl/towr.git
VCS Type git
VCS Version master
Last Updated 2019-04-12
Dev Status DEVELOPED
Released RELEASED

Package Description

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. This library provides implementations for variables, costs and constraints that can be used to represent a legged locomotion problem. The resulting Nonlinear Programming Problem (NLP) can then be solved with off-the-shelf solvers, e.g. Ipopt using the generic optimizer interface

Additional Links

Maintainers

  • Alexander W. Winkler

Authors

  • Alexander W. Winkler
README
No README found. See repository README.
CHANGELOG

Changelog for package towr

1.4.1 (2019-04-05)

  • Merge pull request (#56) from ethz-adrl/expose-params
  • add explanation for assert in phase_durations
  • Merge branch \'sweetie-bot-project-feat/access-optimization-parameteres\' into expose-params
  • Optimize GetPhaseDurations(). Remove unnecessary GetNormalizedPhaseDurations().
  • Make GaitGenerator::SetGaits() method public.
  • Move default parameter values to header.
  • Use pair<double,double> instead of array<double,2> to store bounds.
  • Expose contstraints and costs field to user. Remove unnecessary private functions.
  • Add missing underscore postfix for bounds_final variables.
  • Take into account weights of the costs. (#51)
  • Contributors: Alexander Winkler, Mathieu Geisert, awinkler, disRecord

1.4.0 (2018-07-30)

  • Simplify extension / adding own formulation (#38)
  • Facilitate towr_ros user extension (#34)
  • Greatly simplify phase node formulations (#33)
  • keep overview in github readme, not separated into doxygen & github
  • rename CD to SRBD and improve documentation
  • rename nodes to node variables
  • Contributors: Alexander Winkler

1.3.2 (2018-07-17)

  • adapt to more generic ifopt solver interface.
  • Improve doxygen (#26)
    • add overview on main doxygen landing
    • add doxygen groups to variables/constraints/costs
    • add parameter explanation
  • Contributors: Alexander Winkler

1.3.1 (2018-07-10)

  • Improve API (#23)
  • Remove redundant total time (duration set by endeffectors)
  • Contributors: Alexander Winkler

1.3.0 (2018-07-07)

  • add sample gaits for mono-, bi- and quadruped
  • Contributors: Alexander Winkler

1.2.2 (2018-07-03)

  • remove controller specifc code from towr_ros
  • moved height map from towr_ros to towr
  • moved robots models and gait generator from towr_ros to towr
  • move dynamic and kinematic models from towr_ros -> towr
  • remove all catkin macros from towr::CMakeLists.txt
  • Contributors: Alexander Winkler

1.2.1 (2018-06-30)

  • set parameters for hyq and terrains examples
  • rename constraints and variables for more consistency
  • renamed main library (towr_core -> towr) and removed ros meta package
  • Contributors: Alexander Winkler

1.2.0 (2018-06-25)

  • allow building with pure cmake (catkin optional)
  • adapt to version 2.0.0 of ifopt (#17)
  • add derivative of system dynamics w.r.t angular orientation
  • Improve centroidal dynamics model and add continuous base acceleration constraint
  • Fix final base and footholds through constraint
  • Separate ifopt solver from towr and towr to header+source file
  • Contributors: Alexander Winkler

1.1.0 (2018-02-06)

  • add metapackage towr and move algorithm to towr_core
  • create separate ros independent example package \"towr_ros\"
  • replaced ros-keyboard dependency with ncurses
  • moved all robot specific model/gait generators out of towr -> towr_ros
  • use only one unified represenatation for nodes and states
  • remove xpp states dependency
  • added base_nodes class that derives from node_variables
  • add observer pattern (spline observes node_values and contact_schedule)
  • added spline_holder to not always have to reconstruct from variables
  • separated spline and node values
  • adapted to changed ifopt namespace (opt -> ifopt)
  • removed unused variables in polynomial
  • renamed pkg from xpp_opt to towr
  • Contributors: Alexander Winkler

1.0.0 (2017-09-19)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 ifopt

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged towr at answers.ros.org

towr package from towr repo

towr towr_ros

Package Summary

Tags No category tags.
Version 1.4.1
License BSD
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ethz-adrl/towr.git
VCS Type git
VCS Version master
Last Updated 2019-04-12
Dev Status DEVELOPED
Released RELEASED

Package Description

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. This library provides implementations for variables, costs and constraints that can be used to represent a legged locomotion problem. The resulting Nonlinear Programming Problem (NLP) can then be solved with off-the-shelf solvers, e.g. Ipopt using the generic optimizer interface

Additional Links

Maintainers

  • Alexander W. Winkler

Authors

  • Alexander W. Winkler
README
No README found. See repository README.
CHANGELOG

Changelog for package towr

1.4.1 (2019-04-05)

  • Merge pull request (#56) from ethz-adrl/expose-params
  • add explanation for assert in phase_durations
  • Merge branch \'sweetie-bot-project-feat/access-optimization-parameteres\' into expose-params
  • Optimize GetPhaseDurations(). Remove unnecessary GetNormalizedPhaseDurations().
  • Make GaitGenerator::SetGaits() method public.
  • Move default parameter values to header.
  • Use pair<double,double> instead of array<double,2> to store bounds.
  • Expose contstraints and costs field to user. Remove unnecessary private functions.
  • Add missing underscore postfix for bounds_final variables.
  • Take into account weights of the costs. (#51)
  • Contributors: Alexander Winkler, Mathieu Geisert, awinkler, disRecord

1.4.0 (2018-07-30)

  • Simplify extension / adding own formulation (#38)
  • Facilitate towr_ros user extension (#34)
  • Greatly simplify phase node formulations (#33)
  • keep overview in github readme, not separated into doxygen & github
  • rename CD to SRBD and improve documentation
  • rename nodes to node variables
  • Contributors: Alexander Winkler

1.3.2 (2018-07-17)

  • adapt to more generic ifopt solver interface.
  • Improve doxygen (#26)
    • add overview on main doxygen landing
    • add doxygen groups to variables/constraints/costs
    • add parameter explanation
  • Contributors: Alexander Winkler

1.3.1 (2018-07-10)

  • Improve API (#23)
  • Remove redundant total time (duration set by endeffectors)
  • Contributors: Alexander Winkler

1.3.0 (2018-07-07)

  • add sample gaits for mono-, bi- and quadruped
  • Contributors: Alexander Winkler

1.2.2 (2018-07-03)

  • remove controller specifc code from towr_ros
  • moved height map from towr_ros to towr
  • moved robots models and gait generator from towr_ros to towr
  • move dynamic and kinematic models from towr_ros -> towr
  • remove all catkin macros from towr::CMakeLists.txt
  • Contributors: Alexander Winkler

1.2.1 (2018-06-30)

  • set parameters for hyq and terrains examples
  • rename constraints and variables for more consistency
  • renamed main library (towr_core -> towr) and removed ros meta package
  • Contributors: Alexander Winkler

1.2.0 (2018-06-25)

  • allow building with pure cmake (catkin optional)
  • adapt to version 2.0.0 of ifopt (#17)
  • add derivative of system dynamics w.r.t angular orientation
  • Improve centroidal dynamics model and add continuous base acceleration constraint
  • Fix final base and footholds through constraint
  • Separate ifopt solver from towr and towr to header+source file
  • Contributors: Alexander Winkler

1.1.0 (2018-02-06)

  • add metapackage towr and move algorithm to towr_core
  • create separate ros independent example package \"towr_ros\"
  • replaced ros-keyboard dependency with ncurses
  • moved all robot specific model/gait generators out of towr -> towr_ros
  • use only one unified represenatation for nodes and states
  • remove xpp states dependency
  • added base_nodes class that derives from node_variables
  • add observer pattern (spline observes node_values and contact_schedule)
  • added spline_holder to not always have to reconstruct from variables
  • separated spline and node values
  • adapted to changed ifopt namespace (opt -> ifopt)
  • removed unused variables in polynomial
  • renamed pkg from xpp_opt to towr
  • Contributors: Alexander Winkler

1.0.0 (2017-09-19)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 ifopt

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged towr at answers.ros.org

towr package from towr repo

towr towr_ros

Package Summary

Tags No category tags.
Version 1.4.1
License BSD
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ethz-adrl/towr.git
VCS Type git
VCS Version master
Last Updated 2019-04-12
Dev Status DEVELOPED
Released UNRELEASED

Package Description

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. This library provides implementations for variables, costs and constraints that can be used to represent a legged locomotion problem. The resulting Nonlinear Programming Problem (NLP) can then be solved with off-the-shelf solvers, e.g. Ipopt using the generic optimizer interface

Additional Links

Maintainers

  • Alexander W. Winkler

Authors

  • Alexander W. Winkler
README
No README found. See repository README.
CHANGELOG

Changelog for package towr

1.4.1 (2019-04-05)

  • Merge pull request (#56) from ethz-adrl/expose-params
  • add explanation for assert in phase_durations
  • Merge branch \'sweetie-bot-project-feat/access-optimization-parameteres\' into expose-params
  • Optimize GetPhaseDurations(). Remove unnecessary GetNormalizedPhaseDurations().
  • Make GaitGenerator::SetGaits() method public.
  • Move default parameter values to header.
  • Use pair<double,double> instead of array<double,2> to store bounds.
  • Expose contstraints and costs field to user. Remove unnecessary private functions.
  • Add missing underscore postfix for bounds_final variables.
  • Take into account weights of the costs. (#51)
  • Contributors: Alexander Winkler, Mathieu Geisert, awinkler, disRecord

1.4.0 (2018-07-30)

  • Simplify extension / adding own formulation (#38)
  • Facilitate towr_ros user extension (#34)
  • Greatly simplify phase node formulations (#33)
  • keep overview in github readme, not separated into doxygen & github
  • rename CD to SRBD and improve documentation
  • rename nodes to node variables
  • Contributors: Alexander Winkler

1.3.2 (2018-07-17)

  • adapt to more generic ifopt solver interface.
  • Improve doxygen (#26)
    • add overview on main doxygen landing
    • add doxygen groups to variables/constraints/costs
    • add parameter explanation
  • Contributors: Alexander Winkler

1.3.1 (2018-07-10)

  • Improve API (#23)
  • Remove redundant total time (duration set by endeffectors)
  • Contributors: Alexander Winkler

1.3.0 (2018-07-07)

  • add sample gaits for mono-, bi- and quadruped
  • Contributors: Alexander Winkler

1.2.2 (2018-07-03)

  • remove controller specifc code from towr_ros
  • moved height map from towr_ros to towr
  • moved robots models and gait generator from towr_ros to towr
  • move dynamic and kinematic models from towr_ros -> towr
  • remove all catkin macros from towr::CMakeLists.txt
  • Contributors: Alexander Winkler

1.2.1 (2018-06-30)

  • set parameters for hyq and terrains examples
  • rename constraints and variables for more consistency
  • renamed main library (towr_core -> towr) and removed ros meta package
  • Contributors: Alexander Winkler

1.2.0 (2018-06-25)

  • allow building with pure cmake (catkin optional)
  • adapt to version 2.0.0 of ifopt (#17)
  • add derivative of system dynamics w.r.t angular orientation
  • Improve centroidal dynamics model and add continuous base acceleration constraint
  • Fix final base and footholds through constraint
  • Separate ifopt solver from towr and towr to header+source file
  • Contributors: Alexander Winkler

1.1.0 (2018-02-06)

  • add metapackage towr and move algorithm to towr_core
  • create separate ros independent example package \"towr_ros\"
  • replaced ros-keyboard dependency with ncurses
  • moved all robot specific model/gait generators out of towr -> towr_ros
  • use only one unified represenatation for nodes and states
  • remove xpp states dependency
  • added base_nodes class that derives from node_variables
  • add observer pattern (spline observes node_values and contact_schedule)
  • added spline_holder to not always have to reconstruct from variables
  • separated spline and node values
  • adapted to changed ifopt namespace (opt -> ifopt)
  • removed unused variables in polynomial
  • renamed pkg from xpp_opt to towr
  • Contributors: Alexander Winkler

1.0.0 (2017-09-19)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 ifopt

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged towr at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.