CCC::LinearMpcXY::WeightParam Struct Reference

Weight parameter. More...

#include <LinearMpcXY.h>

Public Member Functions
	WeightParam (const Eigen::Vector2d &_linear_momentum_integral=Eigen::Vector2d::Constant(1.0), const Eigen::Vector2d &_linear_momentum=Eigen::Vector2d::Constant(0.0), const Eigen::Vector2d &_angular_momentum=Eigen::Vector2d::Constant(1.0), double _force=1e-5)
	Constructor. More...
Eigen::VectorXd	inputWeight (int total_input_dim) const
	Get input weight vector. More...
Eigen::VectorXd	outputWeight (size_t seq_len) const
	Get output weight vector. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d	linear_momentum_integral
	Linear momentum integral weight. More...
Eigen::Vector2d	linear_momentum
	Linear momentum weight. More...
Eigen::Vector2d	angular_momentum
	Angular momentum weight. More...
double	force
	Force weight. More...

Detailed Description

Weight parameter.

Definition at line 103 of file LinearMpcXY.h.

Constructor & Destructor Documentation

WeightParam()

CCC::LinearMpcXY::WeightParam::WeightParam ( const Eigen::Vector2d &  _linear_momentum_integral = Eigen::Vector2d::Constant(1.0), const Eigen::Vector2d &  _linear_momentum = Eigen::Vector2d::Constant(0.0), const Eigen::Vector2d &  _angular_momentum = Eigen::Vector2d::Constant(1.0), double  _force = 1e-5  )

inline

Constructor.

Parameters

_linear_momentum_integral	linear momentum integral weight
_linear_momentum	linear momentum weight
_angular_momentum	angular momentum weight
_force	force weight

Definition at line 125 of file LinearMpcXY.h.

Member Function Documentation

inputWeight()

Eigen::VectorXd CCC::LinearMpcXY::WeightParam::inputWeight

(

int

total_input_dim

)

const

Get input weight vector.

Parameters

total_input_dim

total input dimension

outputWeight()

Eigen::VectorXd CCC::LinearMpcXY::WeightParam::outputWeight

(

size_t

seq_len

)

const

Get output weight vector.

Parameters

seq_len

sequence length

Member Data Documentation

angular_momentum

Eigen::Vector2d CCC::LinearMpcXY::WeightParam::angular_momentum

Angular momentum weight.

Definition at line 114 of file LinearMpcXY.h.

force

double CCC::LinearMpcXY::WeightParam::force

Force weight.

Definition at line 117 of file LinearMpcXY.h.

linear_momentum

Eigen::Vector2d CCC::LinearMpcXY::WeightParam::linear_momentum

Linear momentum weight.

Definition at line 111 of file LinearMpcXY.h.

linear_momentum_integral

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d CCC::LinearMpcXY::WeightParam::linear_momentum_integral

Linear momentum integral weight.

Definition at line 108 of file LinearMpcXY.h.

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

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/LinearMpcXY.h