centroidal_control_collection
|
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... | |
QP-based MPC with stability constraint for CoM-ZMP model.
See the following for a detailed formulation.
Definition at line 121 of file IntrinsicallyStableMpc.h.
|
inline |
Constructor.
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.
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.
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) |
|
protected |
One-dimensional linear MPC.
Definition at line 190 of file IntrinsicallyStableMpc.h.
|
protected |
Reference data sequence of x.
Definition at line 193 of file IntrinsicallyStableMpc.h.
|
protected |
Reference data sequence of y.
Definition at line 196 of file IntrinsicallyStableMpc.h.