#include <PreviewController.h>
Public Member Functions | |
| void | get_cart_zmp (double *ret) |
| void | get_current_qdata (std::vector< hrp::Vector3 > &_qdata) |
| void | get_current_refzmp (double *ret) |
| size_t | get_delay () |
| double | get_preview_f (const size_t idx) |
| size_t | get_preview_queue_size () |
| void | get_refcog (double *ret) |
| void | get_refcog_acc (double *ret) |
| void | get_refcog_vel (double *ret) |
| bool | is_doing () |
| bool | is_end () |
| preview_control_base (const double dt, const double zc, const hrp::Vector3 &init_xk, const double _gravitational_acceleration, const double d=1.6) | |
| void | print_all_queue () |
| void | remove_preview_queue (const size_t remain_length) |
| void | remove_preview_queue () |
| void | set_preview_queue (const hrp::Vector3 &pr, const std::vector< hrp::Vector3 > &q, const size_t idx) |
| virtual void | update_x_k (const hrp::Vector3 &pr, const std::vector< hrp::Vector3 > &qdata) |
| virtual void | update_x_k () |
| virtual | ~preview_control_base () |
Protected Member Functions | |
| virtual void | calc_f ()=0 |
| virtual void | calc_u ()=0 |
| virtual void | calc_x_k ()=0 |
| void | init_riccati (const Eigen::Matrix< double, dim, dim > &A, const Eigen::Matrix< double, dim, 1 > &b, const Eigen::Matrix< double, 1, dim > &c, const double q=1.0, const double r=1.0e-6) |
| preview_control_base & | operator= (const preview_control_base &_p) |
| preview_control_base (const preview_control_base &_p) | |
Protected Attributes | |
| double | cog_z |
| size_t | delay |
| size_t | ending_count |
| hrp::dvector | f |
| std::deque< Eigen::Matrix < double, 2, 1 > > | p |
| std::deque< double > | pz |
| std::deque< std::vector < hrp::Vector3 > > | qdata |
| riccati_equation< dim > | riccati |
| Eigen::Matrix< double, 3, 3 > | tcA |
| Eigen::Matrix< double, 3, 1 > | tcb |
| Eigen::Matrix< double, 1, 3 > | tcc |
| Eigen::Matrix< double, 1, 2 > | u_k |
| Eigen::Matrix< double, 3, 2 > | x_k |
| double | zmp_z |
Definition at line 51 of file PreviewController.h.
| rats::preview_control_base< dim >::preview_control_base | ( | const preview_control_base< dim > & | _p | ) | [protected] |
| rats::preview_control_base< dim >::preview_control_base | ( | const double | dt, |
| const double | zc, | ||
| const hrp::Vector3 & | init_xk, | ||
| const double | _gravitational_acceleration, | ||
| const double | d = 1.6 |
||
| ) | [inline] |
Definition at line 83 of file PreviewController.h.
| virtual rats::preview_control_base< dim >::~preview_control_base | ( | ) | [inline, virtual] |
Definition at line 98 of file PreviewController.h.
| virtual void rats::preview_control_base< dim >::calc_f | ( | ) | [protected, pure virtual] |
Implemented in rats::extended_preview_control, and rats::preview_control.
| virtual void rats::preview_control_base< dim >::calc_u | ( | ) | [protected, pure virtual] |
Implemented in rats::extended_preview_control, and rats::preview_control.
| virtual void rats::preview_control_base< dim >::calc_x_k | ( | ) | [protected, pure virtual] |
Implemented in rats::extended_preview_control, and rats::preview_control.
| void rats::preview_control_base< dim >::get_cart_zmp | ( | double * | ret | ) | [inline] |
Definition at line 135 of file PreviewController.h.
| void rats::preview_control_base< dim >::get_current_qdata | ( | std::vector< hrp::Vector3 > & | _qdata | ) | [inline] |
Definition at line 148 of file PreviewController.h.
| void rats::preview_control_base< dim >::get_current_refzmp | ( | double * | ret | ) | [inline] |
Definition at line 142 of file PreviewController.h.
| size_t rats::preview_control_base< dim >::get_delay | ( | ) | [inline] |
Definition at line 115 of file PreviewController.h.
| double rats::preview_control_base< dim >::get_preview_f | ( | const size_t | idx | ) | [inline] |
Definition at line 116 of file PreviewController.h.
| size_t rats::preview_control_base< dim >::get_preview_queue_size | ( | ) | [inline] |
Definition at line 178 of file PreviewController.h.
| void rats::preview_control_base< dim >::get_refcog | ( | double * | ret | ) | [inline] |
Definition at line 117 of file PreviewController.h.
| void rats::preview_control_base< dim >::get_refcog_acc | ( | double * | ret | ) | [inline] |
Definition at line 129 of file PreviewController.h.
| void rats::preview_control_base< dim >::get_refcog_vel | ( | double * | ret | ) | [inline] |
Definition at line 123 of file PreviewController.h.
| void rats::preview_control_base< dim >::init_riccati | ( | const Eigen::Matrix< double, dim, dim > & | A, |
| const Eigen::Matrix< double, dim, 1 > & | b, | ||
| const Eigen::Matrix< double, 1, dim > & | c, | ||
| const double | q = 1.0, |
||
| const double | r = 1.0e-6 |
||
| ) | [inline, protected] |
Definition at line 69 of file PreviewController.h.
| bool rats::preview_control_base< dim >::is_doing | ( | ) | [inline] |
Definition at line 152 of file PreviewController.h.
| bool rats::preview_control_base< dim >::is_end | ( | ) | [inline] |
Definition at line 153 of file PreviewController.h.
| preview_control_base& rats::preview_control_base< dim >::operator= | ( | const preview_control_base< dim > & | _p | ) | [protected] |
| void rats::preview_control_base< dim >::print_all_queue | ( | ) | [inline] |
Definition at line 182 of file PreviewController.h.
| void rats::preview_control_base< dim >::remove_preview_queue | ( | const size_t | remain_length | ) | [inline] |
Definition at line 154 of file PreviewController.h.
| void rats::preview_control_base< dim >::remove_preview_queue | ( | ) | [inline] |
Definition at line 163 of file PreviewController.h.
| void rats::preview_control_base< dim >::set_preview_queue | ( | const hrp::Vector3 & | pr, |
| const std::vector< hrp::Vector3 > & | q, | ||
| const size_t | idx | ||
| ) | [inline] |
Definition at line 169 of file PreviewController.h.
| void preview_control_base::update_x_k | ( | const hrp::Vector3 & | pr, |
| const std::vector< hrp::Vector3 > & | qdata | ||
| ) | [virtual] |
Definition at line 8 of file PreviewController.cpp.
| virtual void rats::preview_control_base< dim >::update_x_k | ( | ) | [inline, virtual] |
Definition at line 105 of file PreviewController.h.
double rats::preview_control_base< dim >::cog_z [protected] |
Definition at line 64 of file PreviewController.h.
size_t rats::preview_control_base< dim >::delay [protected] |
Definition at line 65 of file PreviewController.h.
size_t rats::preview_control_base< dim >::ending_count [protected] |
Definition at line 65 of file PreviewController.h.
hrp::dvector rats::preview_control_base< dim >::f [protected] |
Definition at line 60 of file PreviewController.h.
std::deque<Eigen::Matrix<double, 2, 1> > rats::preview_control_base< dim >::p [protected] |
Definition at line 61 of file PreviewController.h.
std::deque<double> rats::preview_control_base< dim >::pz [protected] |
Definition at line 62 of file PreviewController.h.
std::deque< std::vector<hrp::Vector3> > rats::preview_control_base< dim >::qdata [protected] |
Definition at line 63 of file PreviewController.h.
riccati_equation<dim> rats::preview_control_base< dim >::riccati [protected] |
Definition at line 54 of file PreviewController.h.
Eigen::Matrix<double, 3, 3> rats::preview_control_base< dim >::tcA [protected] |
Definition at line 55 of file PreviewController.h.
Eigen::Matrix<double, 3, 1> rats::preview_control_base< dim >::tcb [protected] |
Definition at line 56 of file PreviewController.h.
Eigen::Matrix<double, 1, 3> rats::preview_control_base< dim >::tcc [protected] |
Definition at line 57 of file PreviewController.h.
Eigen::Matrix<double, 1, 2> rats::preview_control_base< dim >::u_k [protected] |
Definition at line 59 of file PreviewController.h.
Eigen::Matrix<double, 3, 2> rats::preview_control_base< dim >::x_k [protected] |
Definition at line 58 of file PreviewController.h.
double rats::preview_control_base< dim >::zmp_z [protected] |
Definition at line 64 of file PreviewController.h.