Differential dynamic programming (DDP) for CoM-ZMP model. More...

#include <DdpZmp.h>

Classes
class	DdpProblem
	DDP problem of CoM-ZMP model. More...

struct	InitialParam
	Initial parameter. More...

struct	PlannedData
	Planned data. More...

struct	RefData
	Reference data. More...

struct	WeightParam
	Weight parameter. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DdpZmp (double mass, double horizon_dt, int horizon_steps, const WeightParam &weight_param=WeightParam())
	Constructor. More...

PlannedData	planOnce (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< 6, 3 > >	ddp_solver_
	DDP solver. More...

Detailed Description

Differential dynamic programming (DDP) for CoM-ZMP model.

See the following for a detailed formulation.

S Feng, et al. Optimization‐based full body control for the darpa robotics challenge. Journal of field robotics, 2015.

Definition at line 15 of file DdpZmp.h.

Constructor & Destructor Documentation

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

inline

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

Definition at line 277 of file DdpZmp.h.

PlannedData CCC::DdpZmp::planOnce	(	const std::function< RefData(double)> &	ref_data_func,
		const InitialParam &	initial_param,
		double	current_time
	)

Plan one step.

Parameters

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::DdpZmp::ddp_problem_

DDP problem.

Definition at line 296 of file DdpZmp.h.

std::shared_ptr<nmpc_ddp::DDPSolver<6, 3> > CCC::DdpZmp::ddp_solver_

DDP solver.

Definition at line 299 of file DdpZmp.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/DdpZmp.h