QP-based MPC with stability constraint for one-dimensional CoM-ZMP model.
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#include <IntrinsicallyStableMpc.h>
QP-based MPC with stability constraint for one-dimensional 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 16 of file IntrinsicallyStableMpc.h.
◆ IntrinsicallyStableMpc1d()
| CCC::IntrinsicallyStableMpc1d::IntrinsicallyStableMpc1d |
( |
double |
com_height, |
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double |
horizon_duration, |
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double |
horizon_dt, |
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QpSolverCollection::QpSolverType |
qp_solver_type = QpSolverCollection::QpSolverType::Any, |
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const WeightParam & |
weight_param = WeightParam() |
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) |
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Constructor.
- Parameters
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| 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 |
◆ planOnce()
| double CCC::IntrinsicallyStableMpc1d::planOnce |
( |
const std::function< RefData(double)> & |
ref_data_func, |
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const InitialParam & |
initial_param, |
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double |
current_time, |
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double |
control_dt = -1 |
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) |
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Plan one step.
- Parameters
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| 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
◆ procOnce()
| double CCC::IntrinsicallyStableMpc1d::procOnce |
( |
const std::vector< RefData > & |
ref_data_seq, |
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const InitialParam & |
initial_param, |
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double |
current_time, |
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double |
control_dt |
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) |
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protected |
◆ IntrinsicallyStableMpc
◆ horizon_dt_
| double CCC::IntrinsicallyStableMpc1d::horizon_dt_ = 0 |
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protected |
◆ horizon_steps_
| int CCC::IntrinsicallyStableMpc1d::horizon_steps_ = -1 |
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protected |
◆ lambda_
| double CCC::IntrinsicallyStableMpc1d::lambda_ = 0 |
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protected |
◆ omega_
| double CCC::IntrinsicallyStableMpc1d::omega_ = 0 |
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protected |
◆ P_
| Eigen::MatrixXd CCC::IntrinsicallyStableMpc1d::P_ |
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protected |
Constant matrix dependent on horizon_dt (defined in equation (7) in the paper)
Definition at line 113 of file IntrinsicallyStableMpc.h.
◆ qp_coeff_
| QpSolverCollection::QpCoeff CCC::IntrinsicallyStableMpc1d::qp_coeff_ |
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protected |
◆ qp_solver_
| std::shared_ptr<QpSolverCollection::QpSolver> CCC::IntrinsicallyStableMpc1d::qp_solver_ |
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protected |
◆ weight_param_
| WeightParam CCC::IntrinsicallyStableMpc1d::weight_param_ |
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protected |
The documentation for this class was generated from the following file:
- /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/IntrinsicallyStableMpc.h
