Preview control. More...

#include <PreviewControl.h>

Classes
struct	WeightParam
	Weight parameter. More...

Public Types
using	StateDimVector = Eigen::Matrix< double, StateDim, 1 >
	Type of state vector. More...

using	InputDimVector = Eigen::Matrix< double, InputDim, 1 >
	Type of input vector. More...

using	OutputDimVector = Eigen::Matrix< double, OutputDim, 1 >
	Type of output vector. More...

using	_StateSpaceModel = StateSpaceModel< StateDim, InputDim, OutputDim >
	Type of state-space model. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PreviewControl (const std::shared_ptr< _StateSpaceModel > &model, double horizon_duration, double horizon_dt, const WeightParam &weight_param)
	Constructor. More...

InputDimVector	calcOptimalInput (const StateDimVector &x, const Eigen::VectorXd &ref_output_seq) const
	Calculate optimal input. More...

Public Attributes
std::shared_ptr< _StateSpaceModel >	model_
	State-space model. More...

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

int	horizon_steps_ = -1
	Number of steps in horizon. More...

double	riccati_error_ = 0
	Error of algebraic Riccati equation. More...

Protected Member Functions
void	calcGain (const WeightParam &weight_param)
	Calculate the gain of the preview control. More...

Protected Attributes
Eigen::Matrix< double, StateDim, StateDim >	P_
	Solution of the algebraic Riccati equation. More...

Eigen::Matrix< double, InputDim, StateDim >	K_
	Feedback gain. More...

Eigen::Matrix< double, InputDim, Eigen::Dynamic >	F_
	Preview gain. More...

Detailed Description

template<int StateDim, int InputDim, int OutputDim>
class CCC::PreviewControl< StateDim, InputDim, OutputDim >

Preview control.

Template Parameters

StateDim	state dimension
InputDim	input dimension
OutputDim	output dimension

See the following for a detailed formulation.

Shuuji Kajita, et al. Biped walking pattern generation by using preview control of zero-moment point. ICRA, 2003.

Definition at line 22 of file PreviewControl.h.

Member Typedef Documentation

◆ _StateSpaceModel

template<int StateDim, int InputDim, int OutputDim>

using CCC::PreviewControl< StateDim, InputDim, OutputDim >::_StateSpaceModel = StateSpaceModel<StateDim, InputDim, OutputDim>

Type of state-space model.

Definition at line 35 of file PreviewControl.h.

◆ InputDimVector

template<int StateDim, int InputDim, int OutputDim>

using CCC::PreviewControl< StateDim, InputDim, OutputDim >::InputDimVector = Eigen::Matrix<double, InputDim, 1>

Type of input vector.

Definition at line 29 of file PreviewControl.h.

◆ OutputDimVector

template<int StateDim, int InputDim, int OutputDim>

using CCC::PreviewControl< StateDim, InputDim, OutputDim >::OutputDimVector = Eigen::Matrix<double, OutputDim, 1>

Type of output vector.

Definition at line 32 of file PreviewControl.h.

◆ StateDimVector

template<int StateDim, int InputDim, int OutputDim>

using CCC::PreviewControl< StateDim, InputDim, OutputDim >::StateDimVector = Eigen::Matrix<double, StateDim, 1>

Type of state vector.

Definition at line 26 of file PreviewControl.h.

Constructor & Destructor Documentation

◆ PreviewControl()

template<int StateDim, int InputDim, int OutputDim>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CCC::PreviewControl< StateDim, InputDim, OutputDim >::PreviewControl	(	const std::shared_ptr< _StateSpaceModel > &	model,
		double	horizon_duration,
		double	horizon_dt,
		const WeightParam &	weight_param
	)

inline

Constructor.

Parameters

model	state-space model
horizon_duration	horizon duration [sec]
horizon_dt	discretization timestep in horizon [sec]
weight_param	objective weight parameter

Definition at line 67 of file PreviewControl.h.

Member Function Documentation

◆ calcGain()

template<int StateDim, int InputDim, int OutputDim>

void CCC::PreviewControl< StateDim, InputDim, OutputDim >::calcGain ( const WeightParam & weight_param )

inlineprotected

Calculate the gain of the preview control.

Definition at line 93 of file PreviewControl.h.

◆ calcOptimalInput()

template<int StateDim, int InputDim, int OutputDim>

InputDimVector CCC::PreviewControl< StateDim, InputDim, OutputDim >::calcOptimalInput	(	const StateDimVector &	x,
		const Eigen::VectorXd &	ref_output_seq
	)		const

inline

Calculate optimal input.

Parameters

x	state
ref_output_seq	sequence of reference output

Definition at line 86 of file PreviewControl.h.

Member Data Documentation

◆ F_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, InputDim, Eigen::Dynamic> CCC::PreviewControl< StateDim, InputDim, OutputDim >::F_

protected

Preview gain.

Definition at line 195 of file PreviewControl.h.

◆ horizon_dt_

template<int StateDim, int InputDim, int OutputDim>

double CCC::PreviewControl< StateDim, InputDim, OutputDim >::horizon_dt_ = 0

Discretization timestep in horizon [sec].

Definition at line 179 of file PreviewControl.h.

◆ horizon_steps_

template<int StateDim, int InputDim, int OutputDim>

int CCC::PreviewControl< StateDim, InputDim, OutputDim >::horizon_steps_ = -1

Number of steps in horizon.

Definition at line 182 of file PreviewControl.h.

◆ K_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, InputDim, StateDim> CCC::PreviewControl< StateDim, InputDim, OutputDim >::K_

protected

Feedback gain.

Definition at line 192 of file PreviewControl.h.

◆ model_

template<int StateDim, int InputDim, int OutputDim>

std::shared_ptr<_StateSpaceModel> CCC::PreviewControl< StateDim, InputDim, OutputDim >::model_

State-space model.

Definition at line 176 of file PreviewControl.h.

◆ P_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, StateDim, StateDim> CCC::PreviewControl< StateDim, InputDim, OutputDim >::P_

protected

Solution of the algebraic Riccati equation.

Definition at line 189 of file PreviewControl.h.

◆ riccati_error_

template<int StateDim, int InputDim, int OutputDim>

double CCC::PreviewControl< StateDim, InputDim, OutputDim >::riccati_error_ = 0

Error of algebraic Riccati equation.

Definition at line 185 of file PreviewControl.h.

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

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

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<int StateDim, int InputDim, int OutputDim> class CCC::PreviewControl< StateDim, InputDim, OutputDim >

Member Typedef Documentation

◆ _StateSpaceModel

◆ InputDimVector

◆ OutputDimVector

◆ StateDimVector

Constructor & Destructor Documentation

◆ PreviewControl()

Member Function Documentation

◆ calcGain()

◆ calcOptimalInput()

Member Data Documentation

◆ F_

◆ horizon_dt_

◆ horizon_steps_

◆ K_

◆ model_

◆ P_

◆ riccati_error_

template<int StateDim, int InputDim, int OutputDim>
class CCC::PreviewControl< StateDim, InputDim, OutputDim >