Linear MPC of translational and rotational x,y-component motion considering predefined z-component motion. More...

#include <LinearMpcXY.h>

Collaboration diagram for CCC::LinearMpcXY:

Classes
struct	InitialParam
	Initial parameter. More...

class	Model
	State-space model. More...

struct	MotionParam
	Motion parameter. More...

struct	RefData
	Reference data. More...

struct	WeightParam
	Weight parameter. More...

Public Types
using	_StateSpaceModel = StateSpaceModel< state_dim_, Eigen::Dynamic, Eigen::Dynamic >
	Type of state-space model. More...

using	StateDimVector = _StateSpaceModel::StateDimVector
	Type of state vector. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LinearMpcXY (double mass, double horizon_dt, int horizon_steps, const WeightParam &weight_param=WeightParam(), QpSolverCollection::QpSolverType qp_solver_type=QpSolverCollection::QpSolverType::Any)
	Constructor. More...

Eigen::VectorXd	planOnce (const std::function< MotionParam(double)> &motion_param_func, const std::function< RefData(double)> &ref_data_func, const InitialParam &initial_param, double current_time)
	Plan one step. More...

Public Attributes
double	mass_ = 0
	Robot mass [kg]. More...

double	horizon_dt_ = 0
	Discretization timestep in horizon [sec]. More...

int	horizon_steps_ = 0
	Number of steps in horizon. More...

WeightParam	weight_param_
	Objective weight parameter. More...

std::shared_ptr< QpSolverCollection::QpSolver >	qp_solver_
	QP solver. More...

QpSolverCollection::QpCoeff	qp_coeff_
	QP coefficients. More...

std::pair< double, double >	force_range_
	Min/max ridge force [N]. More...

Static Public Attributes
static constexpr int	state_dim_ = 6
	State dimension. More...

Protected Member Functions
Eigen::VectorXd	procOnce (const std::vector< std::shared_ptr< _StateSpaceModel >> &model_list, const StateDimVector &current_x, const Eigen::VectorXd &ref_output_seq)
	Process one step. More...

Detailed Description

Linear MPC of translational and rotational x,y-component motion considering predefined z-component motion.

See the following for a detailed formulation.

H Audren, et al. Model preview control in multi-contact motion-application to a humanoid robot. IROS, 2014.
長阪憲一郎, et al. 接触拘束を考慮可能なマルチコンタクト対応スタビライザと一般化逆動力学による人型ロボットの全身制御. ロボティクスシンポジア予稿集, 2012.

Definition at line 28 of file LinearMpcXY.h.

Member Typedef Documentation

◆ _StateSpaceModel

using CCC::LinearMpcXY::_StateSpaceModel = StateSpaceModel<state_dim_, Eigen::Dynamic, Eigen::Dynamic>

Type of state-space model.

Definition at line 35 of file LinearMpcXY.h.

◆ StateDimVector

using CCC::LinearMpcXY::StateDimVector = _StateSpaceModel::StateDimVector

Type of state vector.

Definition at line 38 of file LinearMpcXY.h.

Constructor & Destructor Documentation

◆ LinearMpcXY()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CCC::LinearMpcXY::LinearMpcXY	(	double	mass,
		double	horizon_dt,
		int	horizon_steps,
		const WeightParam &	weight_param = `WeightParam()`,
		QpSolverCollection::QpSolverType	qp_solver_type = `QpSolverCollection::QpSolverType::Any`
	)

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
qp_solver_type	QP solver type

Member Function Documentation

◆ planOnce()

Eigen::VectorXd CCC::LinearMpcXY::planOnce	(	const std::function< MotionParam(double)> &	motion_param_func,
		const std::function< RefData(double)> &	ref_data_func,
		const InitialParam &	initial_param,
		double	current_time
	)

Plan one step.

Parameters

motion_param_func	function of motion parameter
ref_data_func	function of reference data
initial_param	initial parameter
current_time	current time (i.e., start time of horizon) [sec]

Returns: planned force scales

◆ procOnce()

Eigen::VectorXd CCC::LinearMpcXY::procOnce	(	const std::vector< std::shared_ptr< _StateSpaceModel >> &	model_list,
		const StateDimVector &	current_x,
		const Eigen::VectorXd &	ref_output_seq
	)

protected

Process one step.

Member Data Documentation

◆ force_range_

std::pair<double, double> CCC::LinearMpcXY::force_range_

Min/max ridge force [N].

Definition at line 255 of file LinearMpcXY.h.

◆ horizon_dt_

double CCC::LinearMpcXY::horizon_dt_ = 0

Discretization timestep in horizon [sec].

Definition at line 240 of file LinearMpcXY.h.

◆ horizon_steps_

int CCC::LinearMpcXY::horizon_steps_ = 0

Number of steps in horizon.

Definition at line 243 of file LinearMpcXY.h.

◆ mass_

double CCC::LinearMpcXY::mass_ = 0

Robot mass [kg].

Definition at line 237 of file LinearMpcXY.h.

◆ qp_coeff_

QpSolverCollection::QpCoeff CCC::LinearMpcXY::qp_coeff_

QP coefficients.

Definition at line 252 of file LinearMpcXY.h.

◆ qp_solver_

std::shared_ptr<QpSolverCollection::QpSolver> CCC::LinearMpcXY::qp_solver_

QP solver.

Definition at line 249 of file LinearMpcXY.h.

◆ state_dim_

constexpr int CCC::LinearMpcXY::state_dim_ = 6

staticconstexpr

State dimension.

Definition at line 32 of file LinearMpcXY.h.

◆ weight_param_

WeightParam CCC::LinearMpcXY::weight_param_

Objective weight parameter.

Definition at line 246 of file LinearMpcXY.h.

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

/home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/LinearMpcXY.h

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions