Linear MPC of translational z-component motion. More...

#include <LinearMpcZ.h>

Collaboration diagram for CCC::LinearMpcZ:

Classes
class	ModelContactPhase
	State-space model for contact phase. More...

class	ModelNoncontactPhase
	State-space model for non-contact phase. 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...

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

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

double	planOnce (const std::function< bool(double)> &contact_func, const std::function< double(double)> &ref_pos_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< _StateSpaceModel >	model_contact_
	State-space model for contact phase. More...

std::shared_ptr< _StateSpaceModel >	model_noncontact_
	State-space model for non-contact phase. 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 z-component force [N]. More...

Static Public Attributes
static constexpr int	state_dim_ = 2
	State dimension. More...

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

Detailed Description

Linear MPC of translational z-component motion.

Definition at line 14 of file LinearMpcZ.h.

Member Typedef Documentation

◆ _StateSpaceModel

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

Type of state-space model.

Definition at line 21 of file LinearMpcZ.h.

◆ InitialParam

using CCC::LinearMpcZ::InitialParam = Eigen::Vector2d

Initial parameter.

First element is CoM position, and second element is CoM velocity.

Definition at line 31 of file LinearMpcZ.h.

◆ StateDimVector

using CCC::LinearMpcZ::StateDimVector = _StateSpaceModel::StateDimVector

Type of state vector.

Definition at line 24 of file LinearMpcZ.h.

Constructor & Destructor Documentation

◆ LinearMpcZ()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CCC::LinearMpcZ::LinearMpcZ	(	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()

double CCC::LinearMpcZ::planOnce	(	const std::function< bool(double)> &	contact_func,
		const std::function< double(double)> &	ref_pos_func,
		const InitialParam &	initial_param,
		double	current_time
	)

Plan one step.

Parameters

contact_func	function of contact/non-contact phases (returns true for contact phase)
ref_pos_func	function of reference position [m]
initial_param	initial parameter
current_time	current time (i.e., start time of horizon) [sec]

Returns: planned force

◆ procOnce()

double CCC::LinearMpcZ::procOnce	(	const std::vector< std::shared_ptr< _StateSpaceModel >> &	model_list,
		const StateDimVector &	current_x,
		const Eigen::VectorXd &	ref_pos_seq
	)

protected

Process one step.

Member Data Documentation

◆ force_range_

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

Min/max z-component force [N].

Definition at line 177 of file LinearMpcZ.h.

◆ horizon_dt_

double CCC::LinearMpcZ::horizon_dt_ = 0

Discretization timestep in horizon [sec].

Definition at line 156 of file LinearMpcZ.h.

◆ horizon_steps_

int CCC::LinearMpcZ::horizon_steps_ = 0

Number of steps in horizon.

Definition at line 159 of file LinearMpcZ.h.

◆ mass_

double CCC::LinearMpcZ::mass_ = 0

Robot mass [kg].

Definition at line 153 of file LinearMpcZ.h.

◆ model_contact_

std::shared_ptr<_StateSpaceModel> CCC::LinearMpcZ::model_contact_

State-space model for contact phase.

Definition at line 165 of file LinearMpcZ.h.

◆ model_noncontact_

std::shared_ptr<_StateSpaceModel> CCC::LinearMpcZ::model_noncontact_

State-space model for non-contact phase.

Definition at line 168 of file LinearMpcZ.h.

◆ qp_coeff_

QpSolverCollection::QpCoeff CCC::LinearMpcZ::qp_coeff_

QP coefficients.

Definition at line 174 of file LinearMpcZ.h.

◆ qp_solver_

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

QP solver.

Definition at line 171 of file LinearMpcZ.h.

◆ state_dim_

constexpr int CCC::LinearMpcZ::state_dim_ = 2

staticconstexpr

State dimension.

Definition at line 18 of file LinearMpcZ.h.

◆ weight_param_

WeightParam CCC::LinearMpcZ::weight_param_

Objective weight parameter.

Definition at line 162 of file LinearMpcZ.h.

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

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

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions