centroidal_control_collection
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Walking control based on tracking of divergent component of motion (DCM). More...
#include <DcmTracking.h>
Classes | |
struct | RefData |
Reference data. More... | |
Public Types | |
using | InitialParam = Eigen::Vector2d |
Initial parameter. More... | |
Public Member Functions | |
DcmTracking (double com_height, double feedback_gain=2.0) | |
Constructor. More... | |
Eigen::Vector2d | planOnce (const RefData &ref_data, const InitialParam &initial_param, double current_time) const |
Plan one step. More... | |
Public Attributes | |
double | feedback_gain_ = 0 |
Feedback gain to calculate control ZMP. More... | |
Protected Attributes | |
double | omega_ = 0 |
Time constant for inverted pendulum dynamics. More... | |
Walking control based on tracking of divergent component of motion (DCM).
See the following for a detailed formulation.
Definition at line 22 of file DcmTracking.h.
using CCC::DcmTracking::InitialParam = Eigen::Vector2d |
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inline |
Constructor.
com_height | height of robot CoM [m] |
feedback_gain | feedback gain to calculate ZMP |
Definition at line 51 of file DcmTracking.h.
Eigen::Vector2d CCC::DcmTracking::planOnce | ( | const RefData & | ref_data, |
const InitialParam & | initial_param, | ||
double | current_time | ||
) | const |
Plan one step.
ref_data | reference data |
initial_param | initial parameter (current DCM) |
current_time | current time (i.e., start time of horizon) [sec] |
In the referenced paper, the length of time_zmp_list is three.
double CCC::DcmTracking::feedback_gain_ = 0 |
Feedback gain to calculate control ZMP.
Definition at line 68 of file DcmTracking.h.
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protected |
Time constant for inverted pendulum dynamics.
Definition at line 72 of file DcmTracking.h.