DcmTracking.h

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/* Author: Masaki Murooka */
 
#pragma once
 
#include <map>
 
#include <Eigen/Core>
 
#include <CCC/Constants.h>
 
namespace CCC
{
class DcmTracking
{
public:
  struct RefData
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    Eigen::Vector2d current_zmp = Eigen::Vector2d::Zero();
 
    std::map<double, Eigen::Vector2d> time_zmp_list;
  };
 
  using InitialParam = Eigen::Vector2d;
 
public:
  DcmTracking(double com_height, double feedback_gain = 2.0)
  : feedback_gain_(feedback_gain), omega_(std::sqrt(constants::g / com_height))
  {
  }
 
  Eigen::Vector2d planOnce(const RefData & ref_data, const InitialParam & initial_param, double current_time) const;
 
public:
  double feedback_gain_ = 0;
 
protected:
  double omega_ = 0;
};
} // namespace CCC