robotoc::MPCPeriodicSwingFootRef Class Reference

Periodic reference of the foot position. More...

#include <mpc_periodic_swing_foot_ref.hpp>

Inheritance diagram for robotoc::MPCPeriodicSwingFootRef:

Collaboration diagram for robotoc::MPCPeriodicSwingFootRef:

Public Member Functions
	MPCPeriodicSwingFootRef (const int contact_index, const double swing_height, const double swing_start_time, const double period_swing, const double period_stance, const int num_phases_in_period=1)
	Constructor. More...
	~MPCPeriodicSwingFootRef ()
	Destructor. More...
void	setPeriod (const double swing_start_time, const double period_swing, const double period_stance, const int num_phases_in_period=1)
	Set period. More...
void	setSwingFootRef (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 &x3d_ref) const override
	Computes the reference task-space position. 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::TaskSpace3DRefBase
	TaskSpace3DRefBase ()
	Default constructor. More...
virtual	~TaskSpace3DRefBase ()
	Destructor. More...
	TaskSpace3DRefBase (const TaskSpace3DRefBase &)=default
	Default copy constructor. More...
TaskSpace3DRefBase &	operator= (const TaskSpace3DRefBase &)=default
	Default copy operator. More...
	TaskSpace3DRefBase (TaskSpace3DRefBase &&) noexcept=default
	Default move constructor. More...
TaskSpace3DRefBase &	operator= (TaskSpace3DRefBase &&) noexcept=default
	Default move assign operator. More...
virtual void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &ref_3d) const =0
	Computes the reference task-space position. 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 of the foot position.

Constructor & Destructor Documentation

MPCPeriodicSwingFootRef()

robotoc::MPCPeriodicSwingFootRef::MPCPeriodicSwingFootRef	(	const int	contact_index,
		const double	swing_height,
		const double	swing_start_time,
		const double	period_swing,
		const double	period_stance,
		const int	num_phases_in_period = 1
	)

Constructor.

Parameters

[in]	contact_index	Contact index of the foot.
[in]	swing_height	The swing height of the gait.
[in]	swing_start_time	Start time of the reference tracking.
[in]	period_swing	Period where the foot is swinging.
[in]	period_stance	Period where the foot is stancing.
[in]	num_phases_in_period	Number of phases in a period. Must be positive. Default is 1.

~MPCPeriodicSwingFootRef()

robotoc::MPCPeriodicSwingFootRef::~MPCPeriodicSwingFootRef

(

)

Destructor.

Member Function Documentation

isActive()

bool robotoc::MPCPeriodicSwingFootRef::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::TaskSpace3DRefBase.

setPeriod()

void robotoc::MPCPeriodicSwingFootRef::setPeriod	(	const double	swing_start_time,
		const double	period_swing,
		const double	period_stance,
		const int	num_phases_in_period = 1
	)

Set period.

Parameters

[in]	swing_start_time	Start time of the reference tracking.
[in]	period_swing	Period where the leg is swinging.
[in]	period_stance	Period where the leg is in stance.
[in]	num_phases_in_period	Number of phases in a period. Must be positive. Default is 1.

setSwingFootRef()

void robotoc::MPCPeriodicSwingFootRef::setSwingFootRef	(	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.

updateRef()

void robotoc::MPCPeriodicSwingFootRef::updateRef ( const GridInfo &  grid_info, Eigen::VectorXd &  ref_3d  ) const

overridevirtual

Computes the reference task-space position.

Parameters

[in]	grid_info	Grid info.
[in]	ref_3d	Reference position. Size is 3.

Implements robotoc::TaskSpace3DRefBase.

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

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