Weight parameter. More...

#include <PreviewControlCentroidal.h>

Public Member Functions
	WeightParam (const sva::MotionVecd &_pos=sva::MotionVecd(Eigen::Vector3d(1e2, 1e2, 1e2), Eigen::Vector3d(2e2, 2e2, 2e2)), const sva::ForceVecd &_wrench=sva::ForceVecd(Eigen::Vector3d(5e-3, 5e-3, 5e-3), Eigen::Vector3d(5e-4, 5e-4, 5e-4)), const sva::MotionVecd &_jerk=sva::MotionVecd(Eigen::Vector3d::Constant(1e-8), Eigen::Vector3d::Constant(1e-8)), const mc_rtc::Configuration &_wrench_dist_config={})
	Constructor. More...

PreviewControlCentroidal1d::WeightParam	toWeightParam1d (int idx) const
	Convert to PreviewControlCentroidal1d::WeightParam. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW sva::MotionVecd	pos
	Position weight. More...

sva::ForceVecd	wrench
	Wrench weight. More...

sva::MotionVecd	jerk
	Jerk weight. More...

mc_rtc::Configuration	wrench_dist_config
	Configuration of wrench distribution. More...

Detailed Description

Weight parameter.

Definition at line 182 of file PreviewControlCentroidal.h.

Constructor & Destructor Documentation

◆ WeightParam()

CCC::PreviewControlCentroidal::WeightParam::WeightParam	(	const sva::MotionVecd &	_pos = `sva::MotionVecd(Eigen::Vector3d(1e2, 1e2, 1e2), Eigen::Vector3d(2e2, 2e2, 2e2))`,
		const sva::ForceVecd &	_wrench = `sva::ForceVecd(Eigen::Vector3d(5e-3, 5e-3, 5e-3), Eigen::Vector3d(5e-4, 5e-4, 5e-4))`,
		const sva::MotionVecd &	_jerk = `sva::MotionVecd(Eigen::Vector3d::Constant(1e-8), Eigen::Vector3d::Constant(1e-8))`,
		const mc_rtc::Configuration &	_wrench_dist_config = `{}`
	)

inline

Constructor.

Parameters

_pos	position weight
_wrench	wrench weight
_jerk	jerk weight
_wrench_dist_config	configuration of wrench distribution

Definition at line 204 of file PreviewControlCentroidal.h.

Member Function Documentation

◆ toWeightParam1d()

PreviewControlCentroidal1d::WeightParam CCC::PreviewControlCentroidal::WeightParam::toWeightParam1d ( int idx ) const

Convert to PreviewControlCentroidal1d::WeightParam.

Parameters

idx	component index

Member Data Documentation

◆ jerk

sva::MotionVecd CCC::PreviewControlCentroidal::WeightParam::jerk

Jerk weight.

Definition at line 193 of file PreviewControlCentroidal.h.

◆ pos

EIGEN_MAKE_ALIGNED_OPERATOR_NEW sva::MotionVecd CCC::PreviewControlCentroidal::WeightParam::pos

Position weight.

Definition at line 187 of file PreviewControlCentroidal.h.

◆ wrench

sva::ForceVecd CCC::PreviewControlCentroidal::WeightParam::wrench

Wrench weight.

Definition at line 190 of file PreviewControlCentroidal.h.

◆ wrench_dist_config

mc_rtc::Configuration CCC::PreviewControlCentroidal::WeightParam::wrench_dist_config

Configuration of wrench distribution.

Definition at line 196 of file PreviewControlCentroidal.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/PreviewControlCentroidal.h

Public Member Functions

Public Attributes