|
centroidal_control_collection
|
Namespaces | |
| constants | |
Classes | |
| class | ComZmpModelJerkInput |
| State-space model of CoM-ZMP dynamics with CoM jerk input and ZMP output. More... | |
| class | DcmTracking |
| Walking control based on tracking of divergent component of motion (DCM). More... | |
| class | DdpCentroidal |
| Differential dynamic programming (DDP) for centroidal model. More... | |
| class | DdpSingleRigidBody |
| Differential dynamic programming (DDP) for centroidal model with single rigid-body dynamics (SRBD) approximation. More... | |
| class | DdpZmp |
| Differential dynamic programming (DDP) for CoM-ZMP model. More... | |
| class | FootGuidedControl |
| Foot-guided control. More... | |
| class | FootGuidedControl1d |
| Foot-guided control for one-dimensional motion. More... | |
| class | IntrinsicallyStableMpc |
| QP-based MPC with stability constraint for CoM-ZMP model. More... | |
| class | IntrinsicallyStableMpc1d |
| QP-based MPC with stability constraint for one-dimensional CoM-ZMP model. More... | |
| class | InvariantSequentialExtension |
| Sequential extension for time-invariant system. More... | |
| class | LinearMpcXY |
| Linear MPC of translational and rotational x,y-component motion considering predefined z-component motion. More... | |
| class | LinearMpcZ |
| Linear MPC of translational z-component motion. More... | |
| class | LinearMpcZmp |
| QP-based linear MPC for CoM-ZMP model. More... | |
| class | LinearMpcZmp1d |
| QP-based linear MPC for one-dimensional CoM-ZMP model. More... | |
| class | PreviewControl |
| Preview control. More... | |
| class | PreviewControlCentroidal |
| Preview control for centroidal model. More... | |
| class | PreviewControlCentroidal1d |
| Preview control for one-dimensional centroidal model. More... | |
| class | PreviewControlZmp |
| Preview control for CoM-ZMP model. More... | |
| class | PreviewControlZmp1d |
| Preview control for one-dimensional CoM-ZMP model. More... | |
| class | SingularPreviewControlZmp |
| Singular preview control for CoM-ZMP model. More... | |
| class | SingularPreviewControlZmp1d |
| Singular preview control for one-dimensional CoM-ZMP model. More... | |
| class | StateSpaceModel |
| State-space model. More... | |
| class | StepMpc |
| Linear MPC based on discrete dynamics on step switching. More... | |
| class | StepMpc1d |
| Linear MPC based on one-dimensional discrete dynamics on step switching. More... | |
| class | VariantSequentialExtension |
| Sequential extension for time-variant system. More... | |
1.8.17