Initial parameter. More...

#include <DdpCentroidal.h>

Public Member Functions
	InitialParam ()
	Constructor. More...

	InitialParam (const DdpProblem::StateDimVector &state, double mass)
	Constructor. More...

DdpProblem::StateDimVector	toState (double mass) const
	Get state of DDP problem. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d	pos = Eigen::Vector3d::Zero()
	CoM position [m]. More...

Eigen::Vector3d	vel = Eigen::Vector3d::Zero()
	CoM velocity [m/s]. More...

Eigen::Vector3d	angular_momentum = Eigen::Vector3d::Zero()
	Angular momentum [kg m^2/s]. More...

std::vector< DdpProblem::InputDimVector >	u_list = {}
	Initial guess of input sequence. More...

Detailed Description

Initial parameter.

Definition at line 298 of file DdpCentroidal.h.

Constructor & Destructor Documentation

◆ InitialParam() [1/2]

CCC::DdpCentroidal::InitialParam::InitialParam ( )

inline

Constructor.

Definition at line 319 of file DdpCentroidal.h.

◆ InitialParam() [2/2]

CCC::DdpCentroidal::InitialParam::InitialParam	(	const DdpProblem::StateDimVector &	state,
		double	mass
	)

Constructor.

Parameters

state	state of DDP problem
mass	robot mass [kg]

Member Function Documentation

◆ toState()

DdpProblem::StateDimVector CCC::DdpCentroidal::InitialParam::toState ( double mass ) const

Get state of DDP problem.

Parameters

mass	robot mass [kg]

Member Data Documentation

◆ angular_momentum

Eigen::Vector3d CCC::DdpCentroidal::InitialParam::angular_momentum = Eigen::Vector3d::Zero()

Angular momentum [kg m^2/s].

Definition at line 309 of file DdpCentroidal.h.

◆ pos

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d CCC::DdpCentroidal::InitialParam::pos = Eigen::Vector3d::Zero()

CoM position [m].

Definition at line 303 of file DdpCentroidal.h.

◆ u_list

std::vector<DdpProblem::InputDimVector> CCC::DdpCentroidal::InitialParam::u_list = {}

Initial guess of input sequence.

Sequence length should be horizon_steps. If empty, initial guess of input sequence is initialized to all zeros.

Definition at line 316 of file DdpCentroidal.h.

◆ vel

Eigen::Vector3d CCC::DdpCentroidal::InitialParam::vel = Eigen::Vector3d::Zero()

CoM velocity [m/s].

Definition at line 306 of file DdpCentroidal.h.

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

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

Public Member Functions

Public Attributes