CCC::IntrinsicallyStableMpc Class Reference

QP-based MPC with stability constraint for CoM-ZMP model. More...

#include <IntrinsicallyStableMpc.h>

Classes
struct	InitialParam
	Initial parameter. More...
struct	RefData
	Reference data. More...

Public Member Functions
	IntrinsicallyStableMpc (double com_height, double horizon_duration, double horizon_dt, QpSolverCollection::QpSolverType qp_solver_type=QpSolverCollection::QpSolverType::Any, const IntrinsicallyStableMpc1d::WeightParam &weight_param=IntrinsicallyStableMpc1d::WeightParam())
	Constructor. More...
Eigen::Vector2d	planOnce (const std::function< RefData(double)> &ref_data_func, const InitialParam &initial_param, double current_time, double control_dt=-1)
	Plan one step. More...

Protected Attributes
std::shared_ptr< IntrinsicallyStableMpc1d >	mpc_1d_
	One-dimensional linear MPC. More...
std::vector< IntrinsicallyStableMpc1d::RefData >	ref_data_seq_x_
	Reference data sequence of x. More...
std::vector< IntrinsicallyStableMpc1d::RefData >	ref_data_seq_y_
	Reference data sequence of y. More...

Detailed Description

QP-based MPC with stability constraint for CoM-ZMP model.

See the following for a detailed formulation.

• N Scianca, et al. Intrinsically Stable MPC for Humanoid Gait Generation. Humanoids, 2016.

Definition at line 121 of file IntrinsicallyStableMpc.h.

Constructor & Destructor Documentation

IntrinsicallyStableMpc()

CCC::IntrinsicallyStableMpc::IntrinsicallyStableMpc ( double  com_height, double  horizon_duration, double  horizon_dt, QpSolverCollection::QpSolverType  qp_solver_type = QpSolverCollection::QpSolverType::Any, const IntrinsicallyStableMpc1d::WeightParam &  weight_param = IntrinsicallyStableMpc1d::WeightParam()  )

inline

Constructor.

Parameters

com_height	height of robot CoM [m]
horizon_duration	horizon duration [sec]
horizon_dt	discretization timestep in horizon [sec]
qp_solver_type	QP solver type
weight_param	objective weight parameter

Definition at line 163 of file IntrinsicallyStableMpc.h.

Member Function Documentation

planOnce()

Eigen::Vector2d CCC::IntrinsicallyStableMpc::planOnce	(	const std::function< RefData(double)> &	ref_data_func,
		const InitialParam &	initial_param,
		double	current_time,
		double	control_dt = -1
	)

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]
control_dt	control timestep used to calculate ZMP (if omitted, horizon_dt is used)

Returns

planned ZMP

Member Data Documentation

mpc_1d_

std::shared_ptr<IntrinsicallyStableMpc1d> CCC::IntrinsicallyStableMpc::mpc_1d_

protected

One-dimensional linear MPC.

Definition at line 190 of file IntrinsicallyStableMpc.h.

ref_data_seq_x_

std::vector<IntrinsicallyStableMpc1d::RefData> CCC::IntrinsicallyStableMpc::ref_data_seq_x_

protected

Reference data sequence of x.

Definition at line 193 of file IntrinsicallyStableMpc.h.

ref_data_seq_y_

std::vector<IntrinsicallyStableMpc1d::RefData> CCC::IntrinsicallyStableMpc::ref_data_seq_y_

protected

Reference data sequence of y.

Definition at line 196 of file IntrinsicallyStableMpc.h.

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

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/IntrinsicallyStableMpc.h