Weight parameter. More...

#include <DdpSingleRigidBody.h>

Public Member Functions
	WeightParam (const Eigen::Vector3d &_running_pos=Eigen::Vector3d::Constant(1.0), const Eigen::Vector3d &_running_ori=Eigen::Vector3d::Constant(1.0), const Eigen::Vector3d &_running_linear_vel=Eigen::Vector3d::Constant(0.01), const Eigen::Vector3d &_running_angular_vel=Eigen::Vector3d::Constant(0.01), double _running_force=1e-6, const Eigen::Vector3d &_terminal_pos=Eigen::Vector3d::Constant(1.0), const Eigen::Vector3d &_terminal_ori=Eigen::Vector3d::Constant(1.0), const Eigen::Vector3d &_terminal_linear_vel=Eigen::Vector3d::Constant(0.01), const Eigen::Vector3d &_terminal_angular_vel=Eigen::Vector3d::Constant(0.01))
	Constructor. More...

Public Attributes
Eigen::Vector3d	running_pos
	CoM position weight in running cost. More...

Eigen::Vector3d	running_ori
	Base link orientation weight in running cost. More...

Eigen::Vector3d	running_linear_vel
	Linear velocity weight in running cost. More...

Eigen::Vector3d	running_angular_vel
	Angular velocity weight in running cost. More...

double	running_force
	Force weight in running cost. More...

Eigen::Vector3d	terminal_pos
	CoM position weight in terminal cost. More...

Eigen::Vector3d	terminal_ori
	Base link orientation weight in terminal cost. More...

Eigen::Vector3d	terminal_linear_vel
	Linear velocity weight in terminal cost. More...

Eigen::Vector3d	terminal_angular_vel
	Angular velocity weight in terminal cost. More...

Detailed Description

Weight parameter.

Definition at line 49 of file DdpSingleRigidBody.h.

Constructor & Destructor Documentation

◆ WeightParam()

CCC::DdpSingleRigidBody::WeightParam::WeightParam	(	const Eigen::Vector3d &	_running_pos = `Eigen::Vector3d::Constant(1.0)`,
		const Eigen::Vector3d &	_running_ori = `Eigen::Vector3d::Constant(1.0)`,
		const Eigen::Vector3d &	_running_linear_vel = `Eigen::Vector3d::Constant(0.01)`,
		const Eigen::Vector3d &	_running_angular_vel = `Eigen::Vector3d::Constant(0.01)`,
		double	_running_force = `1e-6`,
		const Eigen::Vector3d &	_terminal_pos = `Eigen::Vector3d::Constant(1.0)`,
		const Eigen::Vector3d &	_terminal_ori = `Eigen::Vector3d::Constant(1.0)`,
		const Eigen::Vector3d &	_terminal_linear_vel = `Eigen::Vector3d::Constant(0.01)`,
		const Eigen::Vector3d &	_terminal_angular_vel = `Eigen::Vector3d::Constant(0.01)`
	)

inline

Constructor.

Parameters

_running_pos	CoM position weight in running cost
_running_ori	base link orientation weight in running cost
_running_linear_vel	linear velocity weight in running cost
_running_angular_vel	angular velocity weight in running cost
_running_force	force weight in running cost
_terminal_pos	CoM position weight in terminal cost
_terminal_ori	base link orientation weight in terminal cost
_terminal_linear_vel	linear velocity weight in terminal cost
_terminal_angular_vel	angular velocity weight in terminal cost

Definition at line 89 of file DdpSingleRigidBody.h.

Member Data Documentation

◆ running_angular_vel

Eigen::Vector3d CCC::DdpSingleRigidBody::WeightParam::running_angular_vel

Angular velocity weight in running cost.

Definition at line 61 of file DdpSingleRigidBody.h.

◆ running_force

double CCC::DdpSingleRigidBody::WeightParam::running_force

Force weight in running cost.

Definition at line 64 of file DdpSingleRigidBody.h.

◆ running_linear_vel

Eigen::Vector3d CCC::DdpSingleRigidBody::WeightParam::running_linear_vel

Linear velocity weight in running cost.

Definition at line 58 of file DdpSingleRigidBody.h.

◆ running_ori

Eigen::Vector3d CCC::DdpSingleRigidBody::WeightParam::running_ori

Base link orientation weight in running cost.

Definition at line 55 of file DdpSingleRigidBody.h.

◆ running_pos

Eigen::Vector3d CCC::DdpSingleRigidBody::WeightParam::running_pos

CoM position weight in running cost.

Definition at line 52 of file DdpSingleRigidBody.h.

◆ terminal_angular_vel

Eigen::Vector3d CCC::DdpSingleRigidBody::WeightParam::terminal_angular_vel

Angular velocity weight in terminal cost.

Definition at line 76 of file DdpSingleRigidBody.h.

◆ terminal_linear_vel

Eigen::Vector3d CCC::DdpSingleRigidBody::WeightParam::terminal_linear_vel

Linear velocity weight in terminal cost.

Definition at line 73 of file DdpSingleRigidBody.h.

◆ terminal_ori

Eigen::Vector3d CCC::DdpSingleRigidBody::WeightParam::terminal_ori

Base link orientation weight in terminal cost.

Definition at line 70 of file DdpSingleRigidBody.h.

◆ terminal_pos

Eigen::Vector3d CCC::DdpSingleRigidBody::WeightParam::terminal_pos

CoM position weight in terminal cost.

Definition at line 67 of file DdpSingleRigidBody.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/DdpSingleRigidBody.h

Public Member Functions

Public Attributes