Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
rats::preview_control_base< dim > Class Template Referenceabstract

#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_baseoperator= (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
 

Detailed Description

template<std::size_t dim>
class rats::preview_control_base< dim >

Definition at line 51 of file PreviewController.h.

Constructor & Destructor Documentation

template<std::size_t dim>
rats::preview_control_base< dim >::preview_control_base ( const preview_control_base< dim > &  _p)
protected
template<std::size_t dim>
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.

template<std::size_t dim>
virtual rats::preview_control_base< dim >::~preview_control_base ( )
inlinevirtual

Definition at line 98 of file PreviewController.h.

Member Function Documentation

template<std::size_t dim>
virtual void rats::preview_control_base< dim >::calc_f ( )
protectedpure virtual
template<std::size_t dim>
virtual void rats::preview_control_base< dim >::calc_u ( )
protectedpure virtual
template<std::size_t dim>
virtual void rats::preview_control_base< dim >::calc_x_k ( )
protectedpure virtual
template<std::size_t dim>
void rats::preview_control_base< dim >::get_cart_zmp ( double *  ret)
inline

Definition at line 135 of file PreviewController.h.

template<std::size_t dim>
void rats::preview_control_base< dim >::get_current_qdata ( std::vector< hrp::Vector3 > &  _qdata)
inline

Definition at line 148 of file PreviewController.h.

template<std::size_t dim>
void rats::preview_control_base< dim >::get_current_refzmp ( double *  ret)
inline

Definition at line 142 of file PreviewController.h.

template<std::size_t dim>
size_t rats::preview_control_base< dim >::get_delay ( )
inline

Definition at line 115 of file PreviewController.h.

template<std::size_t dim>
double rats::preview_control_base< dim >::get_preview_f ( const size_t  idx)
inline

Definition at line 116 of file PreviewController.h.

template<std::size_t dim>
size_t rats::preview_control_base< dim >::get_preview_queue_size ( )
inline

Definition at line 178 of file PreviewController.h.

template<std::size_t dim>
void rats::preview_control_base< dim >::get_refcog ( double *  ret)
inline

Definition at line 117 of file PreviewController.h.

template<std::size_t dim>
void rats::preview_control_base< dim >::get_refcog_acc ( double *  ret)
inline

Definition at line 129 of file PreviewController.h.

template<std::size_t dim>
void rats::preview_control_base< dim >::get_refcog_vel ( double *  ret)
inline

Definition at line 123 of file PreviewController.h.

template<std::size_t dim>
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 
)
inlineprotected

Definition at line 69 of file PreviewController.h.

template<std::size_t dim>
bool rats::preview_control_base< dim >::is_doing ( )
inline

Definition at line 152 of file PreviewController.h.

template<std::size_t dim>
bool rats::preview_control_base< dim >::is_end ( )
inline

Definition at line 153 of file PreviewController.h.

template<std::size_t dim>
preview_control_base& rats::preview_control_base< dim >::operator= ( const preview_control_base< dim > &  _p)
protected
template<std::size_t dim>
void rats::preview_control_base< dim >::print_all_queue ( )
inline

Definition at line 182 of file PreviewController.h.

template<std::size_t dim>
void rats::preview_control_base< dim >::remove_preview_queue ( const size_t  remain_length)
inline

Definition at line 154 of file PreviewController.h.

template<std::size_t dim>
void rats::preview_control_base< dim >::remove_preview_queue ( )
inline

Definition at line 163 of file PreviewController.h.

template<std::size_t dim>
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.

template<std::size_t dim>
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.

template<std::size_t dim>
virtual void rats::preview_control_base< dim >::update_x_k ( )
inlinevirtual

Definition at line 105 of file PreviewController.h.

Member Data Documentation

template<std::size_t dim>
double rats::preview_control_base< dim >::cog_z
protected

Definition at line 64 of file PreviewController.h.

template<std::size_t dim>
size_t rats::preview_control_base< dim >::delay
protected

Definition at line 65 of file PreviewController.h.

template<std::size_t dim>
size_t rats::preview_control_base< dim >::ending_count
protected

Definition at line 65 of file PreviewController.h.

template<std::size_t dim>
hrp::dvector rats::preview_control_base< dim >::f
protected

Definition at line 60 of file PreviewController.h.

template<std::size_t dim>
std::deque<Eigen::Matrix<double, 2, 1> > rats::preview_control_base< dim >::p
protected

Definition at line 61 of file PreviewController.h.

template<std::size_t dim>
std::deque<double> rats::preview_control_base< dim >::pz
protected

Definition at line 62 of file PreviewController.h.

template<std::size_t dim>
std::deque< std::vector<hrp::Vector3> > rats::preview_control_base< dim >::qdata
protected

Definition at line 63 of file PreviewController.h.

template<std::size_t dim>
riccati_equation<dim> rats::preview_control_base< dim >::riccati
protected

Definition at line 54 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, 3, 3> rats::preview_control_base< dim >::tcA
protected

Definition at line 55 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, 3, 1> rats::preview_control_base< dim >::tcb
protected

Definition at line 56 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, 1, 3> rats::preview_control_base< dim >::tcc
protected

Definition at line 57 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, 1, 2> rats::preview_control_base< dim >::u_k
protected

Definition at line 59 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, 3, 2> rats::preview_control_base< dim >::x_k
protected

Definition at line 58 of file PreviewController.h.

template<std::size_t dim>
double rats::preview_control_base< dim >::zmp_z
protected

Definition at line 64 of file PreviewController.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:54