robotoc::MPCPeriodicConfigurationRef Class Reference

Periodic reference configuration for MPC of legged robots. More...

#include <mpc_periodic_configuration_ref.hpp>

Inheritance diagram for robotoc::MPCPeriodicConfigurationRef:

Collaboration diagram for robotoc::MPCPeriodicConfigurationRef:

Public Member Functions
	MPCPeriodicConfigurationRef (const Eigen::VectorXd &q, const double swing_start_time, const double period_active, const double period_inactive, const int num_phases_in_period=1)
	Constructor. More...
	~MPCPeriodicConfigurationRef ()
	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	setConfigurationRef (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 Robot &robot, const GridInfo &grid_info, Eigen::VectorXd &q_ref) const override
	Computes the reference configuration. More...
bool	isActive (const GridInfo &grid_info) const override
	Checks wheather the cost is active or not at the specified time. More...
Public Member Functions inherited from robotoc::ConfigurationSpaceRefBase
	ConfigurationSpaceRefBase ()
	Default constructor. More...
virtual	~ConfigurationSpaceRefBase ()
	Destructor. More...
	ConfigurationSpaceRefBase (const ConfigurationSpaceRefBase &)=default
	Default copy constructor. More...
ConfigurationSpaceRefBase &	operator= (const ConfigurationSpaceRefBase &)=default
	Default copy operator. More...
	ConfigurationSpaceRefBase (ConfigurationSpaceRefBase &&) noexcept=default
	Default move constructor. More...
ConfigurationSpaceRefBase &	operator= (ConfigurationSpaceRefBase &&) noexcept=default
	Default move assign operator. More...
virtual void	updateRef (const Robot &robot, const GridInfo &grid_info, Eigen::VectorXd &q_ref) const =0
	Computes the reference configuration. More...
virtual bool	isActive (const GridInfo &grid_info) const =0
	Checks wheather the cost is active or not at the specified time. More...

Detailed Description

Periodic reference configuration for MPC of legged robots.

Constructor & Destructor Documentation

MPCPeriodicConfigurationRef()

robotoc::MPCPeriodicConfigurationRef::MPCPeriodicConfigurationRef	(	const Eigen::VectorXd &	q,
		const double	swing_start_time,
		const double	period_active,
		const double	period_inactive,
		const int	num_phases_in_period = 1
	)

Constructor.

Parameters

[in]	q	Reference configuration.
[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.

~MPCPeriodicConfigurationRef()

robotoc::MPCPeriodicConfigurationRef::~MPCPeriodicConfigurationRef

(

)

Destructor.

Member Function Documentation

isActive()

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

overridevirtual

Checks wheather the cost is active or not at the specified time.

Parameters

[in]

grid_info

Grid info.

Returns

true if the cost is active at time t. false if not.

Implements robotoc::ConfigurationSpaceRefBase.

setConfigurationRef()

void robotoc::MPCPeriodicConfigurationRef::setConfigurationRef	(	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::MPCPeriodicConfigurationRef::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::MPCPeriodicConfigurationRef::updateRef ( const Robot &  robot, const GridInfo &  grid_info, Eigen::VectorXd &  q_ref  ) const

overridevirtual

Computes the reference configuration.

Parameters

[in]	robot	Robot model.
[in]	grid_info	Grid info.
[in]	q_ref	Reference position. Size is Robot::dimq().

Implements robotoc::ConfigurationSpaceRefBase.

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

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