centroidal_control_collection
Classes | Public Member Functions | Public Attributes | List of all members
CCC::DdpCentroidal Class Reference

Differential dynamic programming (DDP) for centroidal model. More...

#include <DdpCentroidal.h>

Classes

class  DdpProblem
 DDP problem of centroidal model. More...
 
struct  InitialParam
 Initial parameter. More...
 
struct  MotionParam
 Motion parameter. More...
 
struct  RefData
 Reference data. More...
 
struct  WeightParam
 Weight parameter. More...
 

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW DdpCentroidal (double mass, double horizon_dt, int horizon_steps, const WeightParam &weight_param=WeightParam())
 Constructor. More...
 
Eigen::VectorXd planOnce (const std::function< MotionParam(double)> &motion_param_func, const std::function< RefData(double)> &ref_data_func, const InitialParam &initial_param, double current_time)
 Plan one step. More...
 

Public Attributes

std::shared_ptr< DdpProblemddp_problem_
 DDP problem. More...
 
std::shared_ptr< nmpc_ddp::DDPSolver< 9, Eigen::Dynamic > > ddp_solver_
 DDP solver. More...
 
std::array< double, 2 > force_scale_limits_ = {0.0, 1e6}
 Force scale limits (i.e., limits of \(\lambda_i\) in the order of lower, upper) More...
 

Detailed Description

Differential dynamic programming (DDP) for centroidal model.

Definition at line 15 of file DdpCentroidal.h.

Constructor & Destructor Documentation

◆ DdpCentroidal()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CCC::DdpCentroidal::DdpCentroidal ( double  mass,
double  horizon_dt,
int  horizon_steps,
const WeightParam weight_param = WeightParam() 
)

Constructor.

Parameters
massrobot mass [kg]
horizon_dtdiscretization timestep in horizon [sec]
horizon_stepsnumber of steps in horizon
weight_paramobjective weight parameter

Member Function Documentation

◆ planOnce()

Eigen::VectorXd CCC::DdpCentroidal::planOnce ( const std::function< MotionParam(double)> &  motion_param_func,
const std::function< RefData(double)> &  ref_data_func,
const InitialParam initial_param,
double  current_time 
)

Plan one step.

Parameters
motion_param_funcfunction of motion parameter
ref_data_funcfunction of reference data
initial_paraminitial parameter
current_timecurrent time (i.e., start time of horizon) [sec]
Returns
planned force scales

Member Data Documentation

◆ ddp_problem_

std::shared_ptr<DdpProblem> CCC::DdpCentroidal::ddp_problem_

DDP problem.

Definition at line 358 of file DdpCentroidal.h.

◆ ddp_solver_

std::shared_ptr<nmpc_ddp::DDPSolver<9, Eigen::Dynamic> > CCC::DdpCentroidal::ddp_solver_

DDP solver.

Definition at line 361 of file DdpCentroidal.h.

◆ force_scale_limits_

std::array<double, 2> CCC::DdpCentroidal::force_scale_limits_ = {0.0, 1e6}

Force scale limits (i.e., limits of \(\lambda_i\) in the order of lower, upper)

Definition at line 364 of file DdpCentroidal.h.


The documentation for this class was generated from the following file: