centroidal_control_collection
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CCC::SingularPreviewControlZmp Class Reference

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< SingularPreviewControlZmp1dspc_1d_
 One-dimensional preview control. More...
 

Detailed Description

Singular preview control for CoM-ZMP model.

See the following for a detailed formulation.

Todo:
Footstep online planning is not supported.

Definition at line 86 of file SingularPreviewControlZmp.h.

Constructor & Destructor Documentation

◆ SingularPreviewControlZmp()

CCC::SingularPreviewControlZmp::SingularPreviewControlZmp ( double  com_height,
double  horizon_duration,
double  horizon_dt 
)
inline

Constructor.

Parameters
com_heightheight of robot CoM [m]
horizon_durationhorizon duration [sec]
horizon_dtdiscretization timestep in horizon [sec]

Definition at line 110 of file SingularPreviewControlZmp.h.

Member Function Documentation

◆ planOnce()

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 
) const

Plan one step.

Parameters
ref_zmp_funcfunction of reference ZMP [m]
initial_paraminitial parameter
current_timecurrent time (i.e., start time of horizon) [sec]
control_dtcontrol timestep used to calculate ZMP (if omitted, horizon_dt is used)
Returns
planned ZMP

Member Data Documentation

◆ spc_1d_

std::shared_ptr<SingularPreviewControlZmp1d> CCC::SingularPreviewControlZmp::spc_1d_

One-dimensional preview control.

Definition at line 129 of file SingularPreviewControlZmp.h.


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