CCC::FootGuidedControl Class Reference

Foot-guided control. More...

#include <FootGuidedControl.h>

Classes
struct	RefData
	Reference data. More...

Public Types
using	InitialParam = Eigen::Vector2d
	Initial parameter. More...

Public Member Functions
	FootGuidedControl (double com_height)
	Constructor. More...
Eigen::Vector2d	planOnce (const RefData &ref_data, const InitialParam &initial_param, double current_time) const
	Plan one step. More...

Protected Attributes
std::shared_ptr< FootGuidedControl1d >	fgc_1d_
	Foot-guided control for one-dimensional motion. More...

Detailed Description

Foot-guided control.

See the following for a detailed formulation.

• T Sugihara, et al. Foot-guided agile control of a biped robot through ZMP manipulation. IROS, 2017.
• Y Kojio, et al. Unified balance control for biped robots including modification of footsteps with angular momentum and falling detection based on capturability. IROS, 2019.

Definition at line 74 of file FootGuidedControl.h.

Member Typedef Documentation

InitialParam

using CCC::FootGuidedControl::InitialParam = Eigen::Vector2d

Initial parameter.

Initial parameter is capture point only.

Definition at line 97 of file FootGuidedControl.h.

Constructor & Destructor Documentation

FootGuidedControl()

CCC::FootGuidedControl::FootGuidedControl ( double  com_height )

inline

Constructor.

Parameters

com_height

height of robot CoM [m]

Definition at line 103 of file FootGuidedControl.h.

Member Function Documentation

planOnce()

Eigen::Vector2d CCC::FootGuidedControl::planOnce	(	const RefData &	ref_data,
		const InitialParam &	initial_param,
		double	current_time
	)		const

Plan one step.

Parameters

ref_data	reference data
initial_param	initial parameter (current capture point)
current_time	current time (i.e., start time of horizon) [sec]

Returns

planned ZMP

Member Data Documentation

fgc_1d_

std::shared_ptr<FootGuidedControl1d> CCC::FootGuidedControl::fgc_1d_

protected

Foot-guided control for one-dimensional motion.

Definition at line 115 of file FootGuidedControl.h.

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

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