CCC::IntrinsicallyStableMpc::RefData Struct Reference

Reference data. More...

#include <IntrinsicallyStableMpc.h>

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d	zmp = Eigen::Vector2d::Zero()
	ZMP [m]. More...
std::array< Eigen::Vector2d, 2 >	zmp_limits
	Min/max limits of ZMP [m]. More...

Detailed Description

Reference data.

Todo:

It is assumed that ZMP limits are independent for the x and y components. This assumption is not valid if the foot is placed diagonally during the single-support phase or if the feet are not aligned during the double-support phase.

Todo:

Footstep online planning is not supported.

Definition at line 132 of file IntrinsicallyStableMpc.h.

Member Data Documentation

zmp

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d CCC::IntrinsicallyStableMpc::RefData::zmp = Eigen::Vector2d::Zero()

ZMP [m].

Definition at line 137 of file IntrinsicallyStableMpc.h.

zmp_limits

std::array<Eigen::Vector2d, 2> CCC::IntrinsicallyStableMpc::RefData::zmp_limits

Min/max limits of ZMP [m].

Definition at line 140 of file IntrinsicallyStableMpc.h.

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

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