Weight parameter. More...

#include <StepMpc.h>

Public Member Functions
	WeightParam (double _free_zmp=1e-2, double _fixed_zmp=1e0, double _double_support=1e0, double _pos=0.0, double _vel=0.0, double _capture_point_abs=1e1, double _capture_point_rel=1e1)
	Constructor. More...

Public Attributes
double	free_zmp
	Weight of free ZMP (for future contacts) More...

double	fixed_zmp
	Weight of fixed ZMP (for existing contacts) More...

double	double_support
	Weight of ZMP in double support phase. More...

double	pos
	Weight of CoM position. More...

double	vel
	Weight of CoM velocity. More...

double	capture_point_abs
	Weight of absolute position of capture point. More...

double	capture_point_rel
	Weight of relative position of capture point and ZMP. More...

Detailed Description

Weight parameter.

Definition at line 80 of file StepMpc.h.

Constructor & Destructor Documentation

◆ WeightParam()

CCC::StepMpc1d::WeightParam::WeightParam	(	double	_free_zmp = `1e-2`,
		double	_fixed_zmp = `1e0`,
		double	_double_support = `1e0`,
		double	_pos = `0.0`,
		double	_vel = `0.0`,
		double	_capture_point_abs = `1e1`,
		double	_capture_point_rel = `1e1`
	)

inline

Constructor.

Parameters

_free_zmp	weight of free ZMP (for future contacts)
_fixed_zmp	weight of fixed ZMP (for existing contacts)
_double_support	weight of ZMP in double support phase
_pos	weight of CoM position
_vel	weight of CoM velocity
_capture_point_abs	weight of absolute position of capture point
_capture_point_rel	weight of relative position of capture point and ZMP

Definition at line 112 of file StepMpc.h.

Member Data Documentation

◆ capture_point_abs

double CCC::StepMpc1d::WeightParam::capture_point_abs

Weight of absolute position of capture point.

Definition at line 98 of file StepMpc.h.

◆ capture_point_rel

double CCC::StepMpc1d::WeightParam::capture_point_rel

Weight of relative position of capture point and ZMP.

Definition at line 101 of file StepMpc.h.

◆ double_support

double CCC::StepMpc1d::WeightParam::double_support

Weight of ZMP in double support phase.

Definition at line 89 of file StepMpc.h.

◆ fixed_zmp

double CCC::StepMpc1d::WeightParam::fixed_zmp

Weight of fixed ZMP (for existing contacts)

Definition at line 86 of file StepMpc.h.

◆ free_zmp

double CCC::StepMpc1d::WeightParam::free_zmp

Weight of free ZMP (for future contacts)

Definition at line 83 of file StepMpc.h.

◆ pos

double CCC::StepMpc1d::WeightParam::pos

Weight of CoM position.

Definition at line 92 of file StepMpc.h.

◆ vel

double CCC::StepMpc1d::WeightParam::vel

Weight of CoM velocity.

Definition at line 95 of file StepMpc.h.

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

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

Public Member Functions

Public Attributes