Linear MPC based on discrete dynamics on step switching. More...

#include <StepMpc.h>

Public Member Functions
	StepMpc (double com_height, const StepMpc1d::WeightParam &weight_param=StepMpc1d::WeightParam())
	Constructor. More...

PlannedData	planOnce (const RefData &ref_data, const InitialParam &initial_param, double current_time)
	Plan one step. More...

Protected Attributes
std::shared_ptr< StepMpc1d >	mpc_1d_
	One-dimensional linear MPC. More...

Detailed Description

Linear MPC based on discrete dynamics on step switching.

See the following for a detailed formulation.

S Xin, et al. Online relative footstep optimization for legged robots dynamic walking using discrete-time model predictive control. IROS, 2019.

Todo:: It is assumed that the left and right feet alternate in stepping (i.e., the same foot does not step in succession).

Definition at line 163 of file StepMpc.h.

Constructor & Destructor Documentation

CCC::StepMpc::StepMpc	(	double	com_height,
		const StepMpc1d::WeightParam &	weight_param = `StepMpc1d::WeightParam()`
	)

inline

Constructor.

Parameters

com_height	height of robot CoM [m]
weight_param	objective weight parameter

Definition at line 224 of file StepMpc.h.

PlannedData CCC::StepMpc::planOnce	(	const RefData &	ref_data,
		const InitialParam &	initial_param,
		double	current_time
	)

Plan one step.

Parameters

ref_data	reference data
initial_param	initial parameter
current_time	current time (i.e., start time of horizon) [sec]

std::shared_ptr<StepMpc1d> CCC::StepMpc::mpc_1d_

protected

One-dimensional linear MPC.

Definition at line 239 of file StepMpc.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/StepMpc.h