CCC::LinearMpcZmp1d Class Reference

QP-based linear MPC for one-dimensional CoM-ZMP model. More...

#include <LinearMpcZmp.h>

Classes
struct	RefData
	Reference data. More...

Public Types
using	InitialParam = Eigen::Vector3d
	Initial parameter. More...

Public Member Functions
	LinearMpcZmp1d (double com_height, double horizon_duration, double horizon_dt, QpSolverCollection::QpSolverType qp_solver_type=QpSolverCollection::QpSolverType::Any)
	Constructor. More...
double	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 Member Functions
double	procOnce (const std::vector< RefData > &ref_data_seq, const InitialParam &initial_param, double current_time, double control_dt)
	Process one step. More...

Protected Attributes
double	horizon_dt_ = 0
	Discretization timestep in horizon [sec]. More...
int	horizon_steps_ = -1
	Number of steps in horizon. More...
std::shared_ptr< ComZmpModelJerkInput >	model_
	State-space model. More...
std::shared_ptr< InvariantSequentialExtension< 3, 1, 1 > >	seq_ext_
	Sequential extension of state-space model. More...
std::shared_ptr< QpSolverCollection::QpSolver >	qp_solver_
	QP solver. More...
QpSolverCollection::QpCoeff	qp_coeff_
	QP coefficients. More...

Friends
class	LinearMpcZmp

Detailed Description

QP-based linear MPC for one-dimensional CoM-ZMP model.

See the following for a detailed formulation.

• PB Wieber. Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations. Humanoids, 2006.

Definition at line 20 of file LinearMpcZmp.h.

Member Typedef Documentation

InitialParam

using CCC::LinearMpcZmp1d::InitialParam = Eigen::Vector3d

Initial parameter.

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

Definition at line 36 of file LinearMpcZmp.h.

Constructor & Destructor Documentation

LinearMpcZmp1d()

CCC::LinearMpcZmp1d::LinearMpcZmp1d	(	double	com_height,
		double	horizon_duration,
		double	horizon_dt,
		QpSolverCollection::QpSolverType	qp_solver_type = QpSolverCollection::QpSolverType::Any
	)

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

Member Function Documentation

planOnce()

double CCC::LinearMpcZmp1d::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 (CoM position, velocity, and acceleration)
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::LinearMpcZmp1d::procOnce ( const std::vector< RefData > &  ref_data_seq, const InitialParam &  initial_param, double  current_time, double  control_dt  )

protected

Process one step.

Friends And Related Function Documentation

LinearMpcZmp

friend class LinearMpcZmp

friend

Definition at line 22 of file LinearMpcZmp.h.

Member Data Documentation

horizon_dt_

double CCC::LinearMpcZmp1d::horizon_dt_ = 0

protected

Discretization timestep in horizon [sec].

Definition at line 71 of file LinearMpcZmp.h.

horizon_steps_

int CCC::LinearMpcZmp1d::horizon_steps_ = -1

protected

Number of steps in horizon.

Definition at line 74 of file LinearMpcZmp.h.

model_

std::shared_ptr<ComZmpModelJerkInput> CCC::LinearMpcZmp1d::model_

protected

State-space model.

Definition at line 77 of file LinearMpcZmp.h.

qp_coeff_

QpSolverCollection::QpCoeff CCC::LinearMpcZmp1d::qp_coeff_

protected

QP coefficients.

Definition at line 86 of file LinearMpcZmp.h.

qp_solver_

std::shared_ptr<QpSolverCollection::QpSolver> CCC::LinearMpcZmp1d::qp_solver_

protected

QP solver.

Definition at line 83 of file LinearMpcZmp.h.

seq_ext_

std::shared_ptr<InvariantSequentialExtension<3, 1, 1> > CCC::LinearMpcZmp1d::seq_ext_

protected

Sequential extension of state-space model.

Definition at line 80 of file LinearMpcZmp.h.

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

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/colcon_ws/src/isri-aist/CentroidalControlCollection/include/CCC/LinearMpcZmp.h