Differential dynamic programming (DDP) for centroidal model with single rigid-body dynamics (SRBD) approximation. More...

#include <DdpSingleRigidBody.h>

Classes
class	DdpProblem
	DDP problem of centroidal model with single rigid-body dynamics (SRBD) approximation. 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	DdpSingleRigidBody (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< 12, 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 with single rigid-body dynamics (SRBD) approximation.

Base link orientation is expressed in ZYX Euler angles.

Todo:: Support other Euler angles

Definition at line 21 of file DdpSingleRigidBody.h.

Constructor & Destructor Documentation

◆ DdpSingleRigidBody()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CCC::DdpSingleRigidBody::DdpSingleRigidBody	(	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

Member Function Documentation

◆ planOnce()

Eigen::VectorXd CCC::DdpSingleRigidBody::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]

Returns: planned force scales

Member Data Documentation

◆ ddp_problem_

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

DDP problem.

Definition at line 398 of file DdpSingleRigidBody.h.

◆ ddp_solver_

std::shared_ptr<nmpc_ddp::DDPSolver<12, Eigen::Dynamic> > CCC::DdpSingleRigidBody::ddp_solver_

DDP solver.

Definition at line 401 of file DdpSingleRigidBody.h.

◆ force_scale_limits_

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

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

Definition at line 404 of file DdpSingleRigidBody.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/DdpSingleRigidBody.h

Classes

Public Member Functions

Public Attributes