robotoc::PeriodicCoMRef Class Reference

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

#include <periodic_com_ref.hpp>

Inheritance diagram for robotoc::PeriodicCoMRef:

Collaboration diagram for robotoc::PeriodicCoMRef:

Public Member Functions
	PeriodicCoMRef (const Eigen::Vector3d com_ref0, const Eigen::Vector3d vcom_ref, const double t0, const double period_active, const double period_inactive, const bool is_first_move_half)
	Constructor. More...
	~PeriodicCoMRef ()
	Destructor. More...
void	setCoMRef (const Eigen::Vector3d com_ref0, const Eigen::Vector3d vcom_ref, const double t0, const double period_active, const double period_inactive, const bool is_first_move_half)
	Sets parameters. 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 of the center of mass.

Constructor & Destructor Documentation

PeriodicCoMRef()

robotoc::PeriodicCoMRef::PeriodicCoMRef	(	const Eigen::Vector3d	com_ref0,
		const Eigen::Vector3d	vcom_ref,
		const double	t0,
		const double	period_active,
		const double	period_inactive,
		const bool	is_first_move_half
	)

Constructor.

Parameters

[in]	com_ref0	Initial CoM position reference.
[in]	vcom_ref	Reference veloity of the CoM.
[in]	t0	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]	is_first_move_half	If true, the first reference CoM movement is half speed.

~PeriodicCoMRef()

robotoc::PeriodicCoMRef::~PeriodicCoMRef

(

)

Destructor.

Member Function Documentation

isActive()

bool robotoc::PeriodicCoMRef::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::PeriodicCoMRef::setCoMRef	(	const Eigen::Vector3d	com_ref0,
		const Eigen::Vector3d	vcom_ref,
		const double	t0,
		const double	period_active,
		const double	period_inactive,
		const bool	is_first_move_half
	)

Sets parameters.

Parameters

[in]	com_ref0	Initial CoM position reference.
[in]	vcom_ref	Reference veloity of the CoM.
[in]	t0	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]	is_first_move_half	If true, the first reference CoM movement is half speed. Default is false.

updateRef()

void robotoc::PeriodicCoMRef::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/cost/periodic_com_ref.hpp