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

#include <PreviewControlZmp.h>

Inheritance diagram for CCC::PreviewControlZmp1d:

Collaboration diagram for CCC::PreviewControlZmp1d:

Classes
struct	WeightParam
	Weight parameter. More...

Public Types
using	InitialParam = PreviewControl< 3, 1, 1 >::StateDimVector
	Initial parameter. More...

Public Types inherited from CCC::PreviewControl< 3, 1, 1 >
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	PreviewControlZmp1d (double com_height, double horizon_duration, double horizon_dt, const WeightParam &weight_param=WeightParam())
	Constructor. More...

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

Public Member Functions inherited from CCC::PreviewControl< 3, 1, 1 >
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_zmp_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, 1 >
void	calcGain (const WeightParam &weight_param)
	Calculate the gain of the preview control. More...

Friends
class	PreviewControlZmp

Additional Inherited Members
Public Attributes inherited from CCC::PreviewControl< 3, 1, 1 >
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, 1 >
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 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 16 of file PreviewControlZmp.h.

Member Typedef Documentation

◆ InitialParam

using CCC::PreviewControlZmp1d::InitialParam = PreviewControl<3, 1, 1>::StateDimVector

Initial parameter.

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

Definition at line 25 of file PreviewControlZmp.h.

Constructor & Destructor Documentation

◆ PreviewControlZmp1d()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CCC::PreviewControlZmp1d::PreviewControlZmp1d	(	double	com_height,
		double	horizon_duration,
		double	horizon_dt,
		const WeightParam &	weight_param = `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 55 of file PreviewControlZmp.h.

Member Function Documentation

◆ planOnce()

double CCC::PreviewControlZmp1d::planOnce	(	const std::function< double(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 (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::PreviewControlZmp1d::procOnce	(	const Eigen::VectorXd &	ref_zmp_seq,
		const InitialParam &	initial_param,
		double	current_time,
		double	control_dt
	)		const

protected

Process one step.

Friends And Related Function Documentation

◆ PreviewControlZmp

friend class PreviewControlZmp

friend

Definition at line 18 of file PreviewControlZmp.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/PreviewControlZmp.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members