FootGuidedControl.h

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/* Author: Masaki Murooka */
 
#pragma once
 
#include <memory>
 
#include <Eigen/Core>
 
#include <CCC/Constants.h>
 
namespace CCC
{
class FootGuidedControl1d
{
public:
  struct RefData
  {
    double transit_start_zmp = 0;
 
    double transit_end_zmp = 0;
 
    double transit_start_time = 0;
 
    double transit_duration = 0;
  };
 
  using InitialParam = double;
 
public:
  FootGuidedControl1d(double com_height) : omega_(std::sqrt(constants::g / com_height)) {}
 
  double planOnce(const RefData & ref_data, const InitialParam & initial_param, double current_time) const;
 
protected:
  double omega_ = 0;
};
 
class FootGuidedControl
{
public:
  struct RefData
  {
    Eigen::Vector2d transit_start_zmp = Eigen::Vector2d::Zero();
 
    Eigen::Vector2d transit_end_zmp = Eigen::Vector2d::Zero();
 
    double transit_start_time = 0;
 
    double transit_duration = 0;
  };
 
  using InitialParam = Eigen::Vector2d;
 
public:
  FootGuidedControl(double com_height) : fgc_1d_(std::make_shared<FootGuidedControl1d>(com_height)) {}
 
  Eigen::Vector2d planOnce(const RefData & ref_data, const InitialParam & initial_param, double current_time) const;
 
protected:
  std::shared_ptr<FootGuidedControl1d> fgc_1d_;
};
} // namespace CCC