CCC::StepMpc1d Class Reference

Linear MPC based on one-dimensional discrete dynamics on step switching. More...

#include <StepMpc.h>

Collaboration diagram for CCC::StepMpc1d:

Classes
struct	PlannedData
	Planned data. More...
struct	RefData
	Reference data. More...
class	StepModel
	Discrete dynamics on step switching. More...
struct	WeightParam
	Weight parameter. More...

Public Types
using	_StateSpaceModel = StateSpaceModel< 2, Eigen::Dynamic, Eigen::Dynamic >
	Type of state-space model with fixed state dimension. More...
using	InitialParam = Eigen::Vector2d
	Initial parameter. More...

Public Member Functions
	StepMpc1d (double com_height, const WeightParam &weight_param=WeightParam())
	Constructor. More...
PlannedData	planOnce (const RefData &ref_data, const InitialParam &initial_param, double current_time)
	Plan one step. More...

Protected Attributes
double	com_height_ = 0
	Height of robot CoM [m]. More...
WeightParam	weight_param_
	Weight parameter. More...
std::shared_ptr< VariantSequentialExtension< 2 > >	seq_ext_
	Sequential extension of state-space model. More...

Friends
class	StepMpc

Detailed Description

Linear MPC based on one-dimensional 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.

Definition at line 17 of file StepMpc.h.

Member Typedef Documentation

_StateSpaceModel

using CCC::StepMpc1d::_StateSpaceModel = StateSpaceModel<2, Eigen::Dynamic, Eigen::Dynamic>

Type of state-space model with fixed state dimension.

Definition at line 23 of file StepMpc.h.

InitialParam

using CCC::StepMpc1d::InitialParam = Eigen::Vector2d

Initial parameter.

First element is CoM position, and second element is CoM velocity.

Definition at line 77 of file StepMpc.h.

Constructor & Destructor Documentation

StepMpc1d()

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

inline

Constructor.

Parameters

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

Definition at line 130 of file StepMpc.h.

Member Function Documentation

planOnce()

PlannedData CCC::StepMpc1d::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]

Returns

planned ZMP

Friends And Related Function Documentation

StepMpc

friend class StepMpc

friend

Definition at line 19 of file StepMpc.h.

Member Data Documentation

com_height_

double CCC::StepMpc1d::com_height_ = 0

protected

Height of robot CoM [m].

Definition at line 145 of file StepMpc.h.

seq_ext_

std::shared_ptr<VariantSequentialExtension<2> > CCC::StepMpc1d::seq_ext_

protected

Sequential extension of state-space model.

Definition at line 151 of file StepMpc.h.

weight_param_

WeightParam CCC::StepMpc1d::weight_param_

protected

Weight parameter.

Definition at line 148 of file StepMpc.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/StepMpc.h