Weight parameter. More...

#include <DdpZmp.h>

Public Member Functions
	WeightParam (double _running_com_pos_z=1e2, double _running_zmp=1e-1, double _running_force_z=1e-4, double _terminal_com_pos_xy=1.0, double _terminal_com_pos_z=1e2, double _terminal_com_vel=1.0)
	Constructor. More...

Public Attributes
double	running_com_pos_z
	CoM z position weight in running cost. More...

double	running_zmp
	ZMP weight in running cost. More...

double	running_force_z
	Z force weight in running cost. More...

double	terminal_com_pos_xy
	CoM x and y position weight in terminal cost. More...

double	terminal_com_pos_z
	CoM z position weight in terminal cost. More...

double	terminal_com_vel
	CoM velocity weight in terminal cost. More...

Detailed Description

Weight parameter.

Definition at line 43 of file DdpZmp.h.

Constructor & Destructor Documentation

◆ WeightParam()

CCC::DdpZmp::WeightParam::WeightParam	(	double	_running_com_pos_z = `1e2`,
		double	_running_zmp = `1e-1`,
		double	_running_force_z = `1e-4`,
		double	_terminal_com_pos_xy = `1.0`,
		double	_terminal_com_pos_z = `1e2`,
		double	_terminal_com_vel = `1.0`
	)

inline

Constructor.

Parameters

_running_com_pos_z	CoM z weight in running cost
_running_zmp	ZMP weight in running cost
_running_force_z	z force weight in running cost
_terminal_com_pos_xy	CoM x and y weight in terminal cost
_terminal_com_pos_z	CoM z weight in terminal cost
_terminal_com_vel	CoM velocity weight in terminal cost

Definition at line 71 of file DdpZmp.h.

Member Data Documentation

◆ running_com_pos_z

double CCC::DdpZmp::WeightParam::running_com_pos_z

CoM z position weight in running cost.

Definition at line 46 of file DdpZmp.h.

◆ running_force_z

double CCC::DdpZmp::WeightParam::running_force_z

Z force weight in running cost.

Definition at line 52 of file DdpZmp.h.

◆ running_zmp

double CCC::DdpZmp::WeightParam::running_zmp

ZMP weight in running cost.

Definition at line 49 of file DdpZmp.h.

◆ terminal_com_pos_xy

double CCC::DdpZmp::WeightParam::terminal_com_pos_xy

CoM x and y position weight in terminal cost.

Definition at line 55 of file DdpZmp.h.

◆ terminal_com_pos_z

double CCC::DdpZmp::WeightParam::terminal_com_pos_z

CoM z position weight in terminal cost.

Definition at line 58 of file DdpZmp.h.

◆ terminal_com_vel

double CCC::DdpZmp::WeightParam::terminal_com_vel

CoM velocity weight in terminal cost.

Definition at line 61 of file DdpZmp.h.

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

/home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/DdpZmp.h

Public Member Functions

Public Attributes