centroidal_control_collection
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Singular preview control for CoM-ZMP model. More...
#include <SingularPreviewControlZmp.h>
Classes | |
struct | InitialParam |
Initial parameter. More... | |
Public Member Functions | |
SingularPreviewControlZmp (double com_height, double horizon_duration, double horizon_dt) | |
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< SingularPreviewControlZmp1d > | spc_1d_ |
One-dimensional preview control. More... | |
Singular preview control for CoM-ZMP model.
See the following for a detailed formulation.
Definition at line 86 of file SingularPreviewControlZmp.h.
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inline |
Constructor.
com_height | height of robot CoM [m] |
horizon_duration | horizon duration [sec] |
horizon_dt | discretization timestep in horizon [sec] |
Definition at line 110 of file SingularPreviewControlZmp.h.
Eigen::Vector2d CCC::SingularPreviewControlZmp::planOnce | ( | const std::function< Eigen::Vector2d(double)> & | ref_zmp_func, |
const InitialParam & | initial_param, | ||
double | current_time, | ||
double | control_dt = -1 |
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) | const |
Plan one step.
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<SingularPreviewControlZmp1d> CCC::SingularPreviewControlZmp::spc_1d_ |
One-dimensional preview control.
Definition at line 129 of file SingularPreviewControlZmp.h.