Preview control for centroidal model. More...

#include <PreviewControlCentroidal.h>

Classes
struct	InitialParam
	Initial parameter. More...

struct	MotionParam
	Motion parameter. More...

struct	RefData
	Reference data. More...

struct	WeightParam
	Weight parameter. More...

Public Member Functions
	PreviewControlCentroidal (double mass, const Eigen::Vector3d &moment_of_inertia, double horizon_duration, double horizon_dt, const WeightParam &weight_param=WeightParam())
	Constructor. More...

sva::ForceVecd	planOnce (const MotionParam &motion_param, const std::function< RefData(double)> &ref_data_func, const InitialParam &initial_param, double current_time, double control_dt=-1) const
	Plan one step. More...

Public Attributes
std::array< std::shared_ptr< PreviewControlCentroidal1d >, 6 >	preview_control_1d_
	List of one-dimensional preview control. More...

mc_rtc::Configuration	wrench_dist_config_
	Configuration of wrench distribution. More...

Protected Attributes
double	mass_
	Mass [kg]. More...

Detailed Description

Preview control for centroidal model.

See the following for a detailed formulation.

M Murooka, et al. Centroidal trajectory generation and stabilization based on preview control for humanoid multi-contact motion. RA-Letters, 2022.

Definition at line 137 of file PreviewControlCentroidal.h.

Constructor & Destructor Documentation

◆ PreviewControlCentroidal()

CCC::PreviewControlCentroidal::PreviewControlCentroidal	(	double	mass,
		const Eigen::Vector3d &	moment_of_inertia,
		double	horizon_duration,
		double	horizon_dt,
		const WeightParam &	weight_param = `WeightParam()`
	)

Constructor.

Parameters

mass	mass [kg]
moment_of_inertia	moment of inertia [kg m^2]
horizon_duration	horizon duration [sec]
horizon_dt	discretization timestep in horizon [sec]
weight_param	objective weight parameter

Member Function Documentation

◆ planOnce()

sva::ForceVecd CCC::PreviewControlCentroidal::planOnce	(	const MotionParam &	motion_param,
		const std::function< RefData(double)> &	ref_data_func,
		const InitialParam &	initial_param,
		double	current_time,
		double	control_dt = `-1`
	)		const

Plan one step.

Parameters

motion_param	motion parameter
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 the planned wrench (if omitted, horizon_dt is used)

Returns: planned wrench

Member Data Documentation

◆ mass_

double CCC::PreviewControlCentroidal::mass_

protected

Mass [kg].

Definition at line 261 of file PreviewControlCentroidal.h.

◆ preview_control_1d_

std::array<std::shared_ptr<PreviewControlCentroidal1d>, 6> CCC::PreviewControlCentroidal::preview_control_1d_

List of one-dimensional preview control.

The first three elements are for orientation components and the latter three are for position components.

Definition at line 254 of file PreviewControlCentroidal.h.

◆ wrench_dist_config_

mc_rtc::Configuration CCC::PreviewControlCentroidal::wrench_dist_config_

Configuration of wrench distribution.

Definition at line 257 of file PreviewControlCentroidal.h.

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

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

Classes

Public Member Functions

Public Attributes

Protected Attributes