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

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< DdpProblem >	ddp_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

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

Constructor.

Parameters

mass	robot mass [kg]
horizon_dt	discretization timestep in horizon [sec]
horizon_steps	number of steps in horizon
weight_param	objective weight parameter

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_func	function of motion parameter
ref_data_func	function of reference data
initial_param	initial parameter
current_time	current time (i.e., start time of horizon) [sec]

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

DDP problem.

Definition at line 358 of file DdpCentroidal.h.

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

DDP solver.

Definition at line 361 of file DdpCentroidal.h.

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:

/home/runner/work/CentroidalControlCollection/CentroidalControlCollection/colcon_ws/src/isri-aist/CentroidalControlCollection/include/CCC/DdpCentroidal.h