MPC solver for the pace gait of quadrupeds. More...

#include <mpc_pace.hpp>

Public Member Functions
	MPCPace (const Robot &quadruped_robot, const double T, const int N)
	Construct MPC solver. More...

	MPCPace ()
	Default constructor. More...

	~MPCPace ()
	Destructor. More...

	MPCPace (const MPCPace &)=default
	Default copy constructor. More...

MPCPace &	operator= (const MPCPace &)=default
	Default copy assign operator. More...

	MPCPace (MPCPace &&) noexcept=default
	Default move constructor. More...

MPCPace &	operator= (MPCPace &&) noexcept=default
	Default move assign operator. More...

void	setGaitPattern (const std::shared_ptr< ContactPlannerBase > &foot_step_planner, const double swing_height, const double swing_time, const double stance_time, const double swing_start_time)
	Sets the gait pattern. More...

void	init (const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const SolverOptions &solver_options)
	Initializes the optimal control problem solover. More...

void	reset ()
	Resets the optimal control problem solover via the solution computed by init(). More...

void	reset (const Eigen::VectorXd &q, const Eigen::VectorXd &v)
	Resets the optimal control problem solover via the solution computed by init(), q, and v. More...

void	setSolverOptions (const SolverOptions &solver_options)
	Sets the solver options. More...

void	updateSolution (const double t, const double dt, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
	Updates the solution by iterationg the Newton-type method. More...

const Eigen::VectorXd &	getInitialControlInput () const
	Get the initial control input. More...

const Solution &	getSolution () const
	Get the solution. More...

const aligned_vector< LQRPolicy > &	getLQRPolicy () const
	Gets of the local LQR policies over the horizon. More...

ControlPolicy	getControlPolicy (const double t) const
	Gets the control policy at the specified time. More...

double	KKTError (const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
	Computes the KKT residual of the optimal control problem. More...

double	KKTError () const
	Returns the l2-norm of the KKT residuals. MPCPace::updateSolution() must be computed. More...

std::shared_ptr< CostFunction >	getCostHandle ()
	Gets the cost function handle. More...

std::shared_ptr< ConfigurationSpaceCost >	getConfigCostHandle ()
	Gets the configuration space cost handle. More...

std::shared_ptr< ConfigurationSpaceCost >	getBaseRotationCostHandle ()
	Gets the base rotation cost handle. More...

std::vector< std::shared_ptr< TaskSpace3DCost > >	getSwingFootCostHandle ()
	Gets the swing foot task space costs (LF, LH, RF, RH feet) handle. More...

std::shared_ptr< CoMCost >	getCoMCostHandle ()
	Gets the com cost handle. More...

std::shared_ptr< Constraints >	getConstraintsHandle ()
	Gets the constraints handle. More...

std::shared_ptr< FrictionCone >	getFrictionConeHandle ()
	Gets the friction cone constraints handle. More...

const OCPSolver &	getSolver () const
	Gets the const handle of the MPC solver. More...

const std::shared_ptr< ContactSequence > &	getContactSequence () const
	Gets the const handle of the contact sequence. More...

void	setRobotProperties (const RobotProperties &properties)
	Sets a collection of the properties for robot model in this MPC. More...

Detailed Description

MPC solver for the pace gait of quadrupeds.

Constructor & Destructor Documentation

◆ MPCPace() [1/4]

robotoc::MPCPace::MPCPace	(	const Robot &	quadruped_robot,
		const double	T,
		const int	N
	)

Construct MPC solver.

Parameters

[in]	quadruped_robot	Quadruped robot model.
[in]	T	Length of the horizon.
[in]	N	Number of the discretization grids of the horizon.

◆ MPCPace() [2/4]

robotoc::MPCPace::MPCPace ( )

Default constructor.

◆ ~MPCPace()

robotoc::MPCPace::~MPCPace ( )

Destructor.

◆ MPCPace() [3/4]

robotoc::MPCPace::MPCPace ( const MPCPace & )

default

Default copy constructor.

◆ MPCPace() [4/4]

robotoc::MPCPace::MPCPace ( MPCPace && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ getBaseRotationCostHandle()

std::shared_ptr< ConfigurationSpaceCost > robotoc::MPCPace::getBaseRotationCostHandle ( )

Gets the base rotation cost handle.

Returns: Shared ptr to the base rotation cost.

◆ getCoMCostHandle()

std::shared_ptr< CoMCost > robotoc::MPCPace::getCoMCostHandle ( )

Gets the com cost handle.

Returns: Shared ptr to the com cost.

◆ getConfigCostHandle()

std::shared_ptr< ConfigurationSpaceCost > robotoc::MPCPace::getConfigCostHandle ( )

Gets the configuration space cost handle.

Returns: Shared ptr to the configuration space cost.

◆ getConstraintsHandle()

std::shared_ptr< Constraints > robotoc::MPCPace::getConstraintsHandle ( )

Gets the constraints handle.

Returns: Shared ptr to the constraints.

◆ getContactSequence()

const std::shared_ptr< ContactSequence > & robotoc::MPCPace::getContactSequence ( ) const

inline

Gets the const handle of the contact sequence.

Returns: Const reference to the shared_ptr of the contact sequence.

◆ getControlPolicy()

ControlPolicy robotoc::MPCPace::getControlPolicy ( const double t ) const

inline

Gets the control policy at the specified time.

Parameters

[in] t The specified time.

Returns: Control poclity at the specified time.

◆ getCostHandle()

std::shared_ptr< CostFunction > robotoc::MPCPace::getCostHandle ( )

Gets the cost function handle.

Returns: Shared ptr to the cost function.

◆ getFrictionConeHandle()

std::shared_ptr< FrictionCone > robotoc::MPCPace::getFrictionConeHandle ( )

Gets the friction cone constraints handle.

Returns: Shared ptr to the friction cone constraints.

◆ getInitialControlInput()

const Eigen::VectorXd & robotoc::MPCPace::getInitialControlInput ( ) const

Get the initial control input.

Returns: Const reference to the control input.

◆ getLQRPolicy()

const aligned_vector< LQRPolicy > & robotoc::MPCPace::getLQRPolicy ( ) const

Gets of the local LQR policies over the horizon.

Returns: const reference to the local LQR policies.

◆ getSolution()

const Solution & robotoc::MPCPace::getSolution ( ) const

Get the solution.

Returns: const reference to the solution.

◆ getSolver()

const OCPSolver & robotoc::MPCPace::getSolver ( ) const

inline

Gets the const handle of the MPC solver.

Returns: Const reference to the MPC solver.

◆ getSwingFootCostHandle()

std::vector< std::shared_ptr< TaskSpace3DCost > > robotoc::MPCPace::getSwingFootCostHandle ( )

Gets the swing foot task space costs (LF, LH, RF, RH feet) handle.

Returns: Shared ptr to the task space cost (LF, LH, RF, RH feet).

◆ init()

void robotoc::MPCPace::init	(	const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const SolverOptions &	solver_options
	)

Initializes the optimal control problem solover.

Parameters

[in]	t	Initial time of the horizon.
[in]	q	Initial configuration. Size must be Robot::dimq().
[in]	v	Initial velocity. Size must be Robot::dimv().
[in]	solver_options	Solver options for the initialization.

Remarks: The linear and angular velocities of the floating base are assumed to be expressed in the body local coordinate.

◆ KKTError() [1/2]

double robotoc::MPCPace::KKTError ( ) const

Returns the l2-norm of the KKT residuals. MPCPace::updateSolution() must be computed.

Returns: The l2-norm of the KKT residual.

◆ KKTError() [2/2]

double robotoc::MPCPace::KKTError	(	const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)

Computes the KKT residual of the optimal control problem.

Parameters

[in]	t	Initial time of the horizon.
[in]	q	Initial configuration. Size must be Robot::dimq().
[in]	v	Initial velocity. Size must be Robot::dimv().

Remarks: The linear and angular velocities of the floating base are assumed to be expressed in the body local coordinate.

◆ operator=() [1/2]

MPCPace & robotoc::MPCPace::operator= ( const MPCPace & )

default

Default copy assign operator.

◆ operator=() [2/2]

MPCPace & robotoc::MPCPace::operator= ( MPCPace && )

defaultnoexcept

Default move assign operator.

◆ reset() [1/2]

void robotoc::MPCPace::reset ( )

Resets the optimal control problem solover via the solution computed by init().

◆ reset() [2/2]

void robotoc::MPCPace::reset	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)

Resets the optimal control problem solover via the solution computed by init(), q, and v.

◆ setGaitPattern()

void robotoc::MPCPace::setGaitPattern	(	const std::shared_ptr< ContactPlannerBase > &	foot_step_planner,
		const double	swing_height,
		const double	swing_time,
		const double	stance_time,
		const double	swing_start_time
	)

Sets the gait pattern.

Parameters

[in]	foot_step_planner	Foot step planner of the gait.
[in]	swing_height	Swing height of the gait.
[in]	swing_time	Swing time of the gait.
[in]	stance_time	Stance time of the gait.
[in]	swing_start_time	Start time of the gait.

◆ setRobotProperties()

void robotoc::MPCPace::setRobotProperties ( const RobotProperties & properties )

Sets a collection of the properties for robot model in this MPC.

Parameters

[in] properties A collection of the properties for the robot model.

◆ setSolverOptions()

void robotoc::MPCPace::setSolverOptions ( const SolverOptions & solver_options )

Sets the solver options.

Parameters

[in] solver_options Solver options.

◆ updateSolution()

void robotoc::MPCPace::updateSolution	(	const double	t,
		const double	dt,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)

Updates the solution by iterationg the Newton-type method.

Parameters

[in]	t	Initial time of the horizon.
[in]	dt	Sampling time of MPC. Must be positive.
[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Velocity. Size must be Robot::dimv().

Remarks: The linear and angular velocities of the floating base are assumed to be expressed in the body local coordinate.

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

/github/workspace/include/robotoc/mpc/mpc_pace.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MPCPace() [1/4]

◆ MPCPace() [2/4]

◆ ~MPCPace()

◆ MPCPace() [3/4]

◆ MPCPace() [4/4]

Member Function Documentation

◆ getBaseRotationCostHandle()

◆ getCoMCostHandle()

◆ getConfigCostHandle()

◆ getConstraintsHandle()

◆ getContactSequence()

◆ getControlPolicy()

◆ getCostHandle()

◆ getFrictionConeHandle()

◆ getInitialControlInput()

◆ getLQRPolicy()

◆ getSolution()

◆ getSolver()

◆ getSwingFootCostHandle()

◆ init()

◆ KKTError() [1/2]

◆ KKTError() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ reset() [1/2]

◆ reset() [2/2]

◆ setGaitPattern()

◆ setRobotProperties()

◆ setSolverOptions()

◆ updateSolution()