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< SingularPreviewControlZmp1d >	spc_1d_
	One-dimensional preview control. More...

Detailed Description

Singular preview control for CoM-ZMP model.

See the following for a detailed formulation.

• J Urata, et al. Online Decision of Foot Placement using Singular LQ Preview Regulation. Humanoids, 2011.

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_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.

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_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)

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.

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

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/colcon_ws/src/isri-aist/CentroidalControlCollection/include/CCC/SingularPreviewControlZmp.h