Preview control for one-dimensional centroidal model. More...
#include <PreviewControlCentroidal.h>
Inheritance diagram for CCC::PreviewControlCentroidal1d:
Collaboration diagram for CCC::PreviewControlCentroidal1d:
Classes | |
| class | CentroidalModel1d |
| State-space model of one-dimensional centroidal dynamics with jerk input and position and wrench output. More... | |
| struct | WeightParam |
| Weight parameter. More... | |
Public Types | |
| using | RefData = Eigen::Vector2d |
| Reference data. More... | |
| using | InitialParam = PreviewControl< 3, 1, 2 >::StateDimVector |
| Initial parameter. More... | |
 Public Types inherited from CCC::PreviewControl< 3, 1, 2 > | |
| 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 | |
| PreviewControlCentroidal1d (double inertia_param, double horizon_duration, double horizon_dt, const WeightParam &weight_param=WeightParam()) | |
| Constructor. More... | |
| Public Member Functions inherited from CCC::PreviewControl< 3, 1, 2 > | |
| 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... | |
Protected Member Functions | |
| double | procOnce (const Eigen::VectorXd &ref_output_seq, const InitialParam &initial_param, double current_time, double control_dt) const |
| Process one step. More... | |
| Protected Member Functions inherited from CCC::PreviewControl< 3, 1, 2 > | |
| void | calcGain (const WeightParam &weight_param) |
| Calculate the gain of the preview control. More... | |
Friends | |
| class | PreviewControlCentroidal |
Additional Inherited Members | |
| Public Attributes inherited from CCC::PreviewControl< 3, 1, 2 > | |
| std::shared_ptr< _StateSpaceModel > | model_ |
| State-space model. More... | |
| double | horizon_dt_ |
| Discretization timestep in horizon [sec]. More... | |
| int | horizon_steps_ |
| Number of steps in horizon. More... | |
| double | riccati_error_ |
| Error of algebraic Riccati equation. More... | |
| Protected Attributes inherited from CCC::PreviewControl< 3, 1, 2 > | |
| 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
Preview control for one-dimensional 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 24 of file PreviewControlCentroidal.h.
Member Typedef Documentation
◆ InitialParam
| using CCC::PreviewControlCentroidal1d::InitialParam = PreviewControl<3, 1, 2>::StateDimVector |
Initial parameter.
For the position components, it consists of the position, velocity, and acceleration of the CoM. For the orientation components, it consists of the orientation, angular velocity, and angular acceleration of the base link.
Definition at line 42 of file PreviewControlCentroidal.h.
◆ RefData
| using CCC::PreviewControlCentroidal1d::RefData = Eigen::Vector2d |
Reference data.
For the position components, the first element is the CoM position and the second element is the force; for the orientation components, the first element is the base link orientation and the second element is the moment.
Definition at line 34 of file PreviewControlCentroidal.h.
Constructor & Destructor Documentation
◆ PreviewControlCentroidal1d()
|
inline |
Constructor.
- Parameters
-
inertia_param inertia parameter (mass [kg] for the position components, moment of inertia [kg m^2] for the orientation components) horizon_duration horizon duration [sec] horizon_dt discretization timestep in horizon [sec] weight_param objective weight parameter
Definition at line 112 of file PreviewControlCentroidal.h.
Member Function Documentation
◆ procOnce()
|
protected |
Process one step.
Friends And Related Function Documentation
◆ PreviewControlCentroidal
|
friend |
Definition at line 26 of file PreviewControlCentroidal.h.
The documentation for this class was generated from the following file:
- /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/PreviewControlCentroidal.h
