robotoc::RaibertHeuristic Class Reference

Raibert heuristic for foot step planning. More...

#include <raibert_heuristic.hpp>

Public Member Functions
	RaibertHeuristic (const double period, const double gain)
	Constructs the planner. More...
	RaibertHeuristic ()
	Default constructor. More...
	~RaibertHeuristic ()
	Destructor. More...
	RaibertHeuristic (const RaibertHeuristic &)=default
	Default copy constructor. More...
RaibertHeuristic &	operator= (const RaibertHeuristic &)=default
	Default copy assign operator. More...
	RaibertHeuristic (RaibertHeuristic &&) noexcept=default
	Default move constructor. More...
RaibertHeuristic &	operator= (RaibertHeuristic &&) noexcept=default
	Default move assign operator. More...
void	setParameters (const double period, const double gain)
	Set parameters. More...
void	planStepLength (const Eigen::Vector2d &vcom, const Eigen::Vector2d &vcom_cmd, const double yaw_rate_cmd)
	Plans the step length. More...
const Eigen::Vector3d &	stepLength () const
	Gets the step length. More...

Detailed Description

Raibert heuristic for foot step planning.

Constructor & Destructor Documentation

RaibertHeuristic() [1/4]

robotoc::RaibertHeuristic::RaibertHeuristic	(	const double	period,
		const double	gain
	)

Constructs the planner.

Parameters

[in]	period	Period of a foot step.
[in]	gain	Feedback gain of the velocity. Must be positive and less than 1.0.

RaibertHeuristic() [2/4]

robotoc::RaibertHeuristic::RaibertHeuristic

(

)

Default constructor.

~RaibertHeuristic()

robotoc::RaibertHeuristic::~RaibertHeuristic

(

)

Destructor.

RaibertHeuristic() [3/4]

robotoc::RaibertHeuristic::RaibertHeuristic ( const RaibertHeuristic &  )

default

Default copy constructor.

RaibertHeuristic() [4/4]

robotoc::RaibertHeuristic::RaibertHeuristic ( RaibertHeuristic &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

operator=() [1/2]

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

default

Default copy assign operator.

operator=() [2/2]

RaibertHeuristic & robotoc::RaibertHeuristic::operator= ( RaibertHeuristic &&  )

defaultnoexcept

Default move assign operator.

planStepLength()

void robotoc::RaibertHeuristic::planStepLength	(	const Eigen::Vector2d &	vcom,
		const Eigen::Vector2d &	vcom_cmd,
		const double	yaw_rate_cmd
	)

Plans the step length.

Parameters

[in]	vcom	Current planar velocity of the COM.
[in]	vcom_cmd	Commanded planar velocity of the COM.
[in]	yaw_rate_cmd	Commanded yaw-rate of the COM.

setParameters()

void robotoc::RaibertHeuristic::setParameters	(	const double	period,
		const double	gain
	)

Set parameters.

Parameters

[in]	period	Period of a foot step.
[in]	gain	Feedback gain of the velocity. Must be positive and less than 1.0.

stepLength()

const Eigen::Vector3d & robotoc::RaibertHeuristic::stepLength

(

)

const

Gets the step length.

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

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