CCC::SingularPreviewControlZmp1d Class Reference

Singular preview control for one-dimensional CoM-ZMP model. More...

#include <SingularPreviewControlZmp.h>

Classes
struct	InitialParam
	Initial parameter. More...

Public Member Functions
	SingularPreviewControlZmp1d (double com_height, double horizon_duration, double horizon_dt)
	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...

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 Attributes
double	horizon_dt_ = 0
	Discretization timestep in horizon [sec]. More...
int	horizon_steps_ = -1
	Number of steps in horizon. More...
double	omega_ = 0
	Time constant for inverted pendulum dynamics. More...

Friends
class	SingularPreviewControlZmp

Detailed Description

Singular preview control for one-dimensional 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.

Definition at line 19 of file SingularPreviewControlZmp.h.

Constructor & Destructor Documentation

SingularPreviewControlZmp1d()

CCC::SingularPreviewControlZmp1d::SingularPreviewControlZmp1d ( 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 43 of file SingularPreviewControlZmp.h.

Member Function Documentation

planOnce()

double CCC::SingularPreviewControlZmp1d::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
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::SingularPreviewControlZmp1d::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

SingularPreviewControlZmp

friend class SingularPreviewControlZmp

friend

Definition at line 21 of file SingularPreviewControlZmp.h.

Member Data Documentation

horizon_dt_

double CCC::SingularPreviewControlZmp1d::horizon_dt_ = 0

protected

Discretization timestep in horizon [sec].

Definition at line 70 of file SingularPreviewControlZmp.h.

horizon_steps_

int CCC::SingularPreviewControlZmp1d::horizon_steps_ = -1

protected

Number of steps in horizon.

Definition at line 73 of file SingularPreviewControlZmp.h.

omega_

double CCC::SingularPreviewControlZmp1d::omega_ = 0

protected

Time constant for inverted pendulum dynamics.

Definition at line 76 of file SingularPreviewControlZmp.h.

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

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/SingularPreviewControlZmp.h