robotoc::MPCPeriodicCoMRef Class Reference

Periodic reference positions of the center of mass. More...

#include <mpc_periodic_com_ref.hpp>

Inheritance diagram for robotoc::MPCPeriodicCoMRef:

Collaboration diagram for robotoc::MPCPeriodicCoMRef:

Public Member Functions
	MPCPeriodicCoMRef (const double swing_start_time, const double period_active, const double period_inactive, const int num_phases_in_period=1)
	Constructor. More...
	~MPCPeriodicCoMRef ()
	Destructor. More...
void	setPeriod (const double swing_start_time, const double period_active, const double period_inactive, const int num_phases_in_period=1)
	Set period. More...
void	setCoMRef (const std::shared_ptr< ContactSequence > &contact_sequence, const std::shared_ptr< ContactPlannerBase > &foot_step_planner)
	Set the reference positions of CoM from the contact positions of the contact sequence. Also, the CoM refs of the first and last contact phases are defined by user. More...
void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &com_ref) const override
	Computes the reference CoM position. More...
bool	isActive (const GridInfo &grid_info) const override
	Checks wheather the cost is active or not for the given grid info. More...
Public Member Functions inherited from robotoc::CoMRefBase
	CoMRefBase ()
	Default constructor. More...
virtual	~CoMRefBase ()
	Destructor. More...
	CoMRefBase (const CoMRefBase &)=default
	Default copy constructor. More...
CoMRefBase &	operator= (const CoMRefBase &)=default
	Default copy operator. More...
	CoMRefBase (CoMRefBase &&) noexcept=default
	Default move constructor. More...
CoMRefBase &	operator= (CoMRefBase &&) noexcept=default
	Default move assign operator. More...
virtual void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &com_ref) const =0
	Computes the reference CoM position. More...
virtual bool	isActive (const GridInfo &grid_info) const =0
	Checks wheather the cost is active or not for the given grid info. More...

Detailed Description

Periodic reference positions of the center of mass.

Constructor & Destructor Documentation

MPCPeriodicCoMRef()

robotoc::MPCPeriodicCoMRef::MPCPeriodicCoMRef	(	const double	swing_start_time,
		const double	period_active,
		const double	period_inactive,
		const int	num_phases_in_period = 1
	)

Constructor.

Parameters

[in]	swing_start_time	Start time of the reference tracking.
[in]	period_active	Period where the tracking is active.
[in]	period_inactive	Period where the tracking is inactive.
[in]	num_phases_in_period	Number of phases in a period. Must be positive. Default is 1.

~MPCPeriodicCoMRef()

robotoc::MPCPeriodicCoMRef::~MPCPeriodicCoMRef

(

)

Destructor.

Member Function Documentation

isActive()

bool robotoc::MPCPeriodicCoMRef::isActive ( const GridInfo &  grid_info ) const

overridevirtual

Checks wheather the cost is active or not for the given grid info.

Parameters

[in]

grid_info

Grid info.

Returns

true if the cost is active for the given grid_info. false if not.

Implements robotoc::CoMRefBase.

setCoMRef()

void robotoc::MPCPeriodicCoMRef::setCoMRef	(	const std::shared_ptr< ContactSequence > &	contact_sequence,
		const std::shared_ptr< ContactPlannerBase > &	foot_step_planner
	)

Set the reference positions of CoM from the contact positions of the contact sequence. Also, the CoM refs of the first and last contact phases are defined by user.

Parameters

[in]	contact_sequence	Contact sequence.
[in]	foot_step_planner	Foot step planner.

setPeriod()

void robotoc::MPCPeriodicCoMRef::setPeriod	(	const double	swing_start_time,
		const double	period_active,
		const double	period_inactive,
		const int	num_phases_in_period = 1
	)

Set period.

Parameters

[in]	swing_start_time	Start time of the reference tracking.
[in]	period_active	Period where the tracking is active.
[in]	period_inactive	Period where the tracking is inactive.
[in]	num_phases_in_period	Number of phases in a period. Must be positive. Default is 1.

updateRef()

void robotoc::MPCPeriodicCoMRef::updateRef ( const GridInfo &  grid_info, Eigen::VectorXd &  com_ref  ) const

overridevirtual

Computes the reference CoM position.

Parameters

[in]	grid_info	Grid info.
[in]	com_ref	Reference CoM position Size is 3.

Implements robotoc::CoMRefBase.

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

• /github/workspace/include/robotoc/mpc/mpc_periodic_com_ref.hpp