Preview control for CoM-ZMP model. More...

Public Member Functions
	PreviewControlZmp (double com_height, double horizon_duration, double horizon_dt, const PreviewControlZmp1d::WeightParam &weight_param=PreviewControlZmp1d::WeightParam())
	Constructor. More...

Eigen::Vector2d	planOnce (const std::function< Eigen::Vector2d(double)> &ref_zmp_func, const InitialParam &initial_param, double current_time, double control_dt=-1) const
	Plan one step. More...

Public Attributes
std::shared_ptr< PreviewControlZmp1d >	preview_control_1d_
	One-dimensional preview control. More...

Detailed Description

Preview control for CoM-ZMP model.

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 92 of file PreviewControlZmp.h.

Constructor & Destructor Documentation

CCC::PreviewControlZmp::PreviewControlZmp	(	double	com_height,
		double	horizon_duration,
		double	horizon_dt,
		const PreviewControlZmp1d::WeightParam &	weight_param = `PreviewControlZmp1d::WeightParam()`
	)

inline

Constructor.

Parameters

com_height	height of robot CoM [m]
horizon_duration	horizon duration [sec]
horizon_dt	discretization timestep in horizon [sec]
weight_param	objective weight parameter

Definition at line 117 of file PreviewControlZmp.h.

Eigen::Vector2d CCC::PreviewControlZmp::planOnce	(	const std::function< Eigen::Vector2d(double)> &	ref_zmp_func,
		const InitialParam &	initial_param,
		double	current_time,
		double	control_dt = `-1`
	)		const

Plan one step.

Parameters

ref_zmp_func	function of reference ZMP [m]
initial_param	initial parameter
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)

std::shared_ptr<PreviewControlZmp1d> CCC::PreviewControlZmp::preview_control_1d_

One-dimensional preview control.

Definition at line 139 of file PreviewControlZmp.h.

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

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