#include <PreviewController.h>

Inheritance diagram for rats::extended_preview_control:

Public Member Functions
	extended_preview_control (const double dt, const double zc, const hrp::Vector3 &init_xk, const double _gravitational_acceleration=DEFAULT_GRAVITATIONAL_ACCELERATION, const double q=1.0, const double r=1.0e-6, const double d=1.6)

virtual	~extended_preview_control ()

Public Member Functions inherited from rats::preview_control_base< 4 >
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 ()

Private Member Functions
void	calc_f ()

void	calc_u ()

void	calc_x_k ()

Private Attributes
Eigen::Matrix< double, 4, 2 >	x_k_e

Additional Inherited Members
Protected Member Functions inherited from rats::preview_control_base< 4 >
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 inherited from rats::preview_control_base< 4 >
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

Definition at line 209 of file PreviewController.h.

Constructor & Destructor Documentation

◆ extended_preview_control()

rats::extended_preview_control::extended_preview_control	(	const double	dt,
		const double	zc,
		const hrp::Vector3 &	init_xk,
		const double	_gravitational_acceleration = `DEFAULT_GRAVITATIONAL_ACCELERATION`,
		const double	q = `1.0`,
		const double	r = `1.0e-6`,
		const double	d = `1.6`
	)

inline

Definition at line 217 of file PreviewController.h.

◆ ~extended_preview_control()

virtual rats::extended_preview_control::~extended_preview_control ( )

inlinevirtual

Definition at line 240 of file PreviewController.h.

Member Function Documentation

◆ calc_f()

void extended_preview_control::calc_f ( )

privatevirtual

Implements rats::preview_control_base< 4 >.

Definition at line 59 of file PreviewController.cpp.

◆ calc_u()

void extended_preview_control::calc_u ( )

privatevirtual

Implements rats::preview_control_base< 4 >.

Definition at line 74 of file PreviewController.cpp.

◆ calc_x_k()

void extended_preview_control::calc_x_k ( )

privatevirtual

Implements rats::preview_control_base< 4 >.

Definition at line 82 of file PreviewController.cpp.

Member Data Documentation

◆ x_k_e

Eigen::Matrix<double, 4, 2> rats::extended_preview_control::x_k_e

private

Definition at line 212 of file PreviewController.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ extended_preview_control()

◆ ~extended_preview_control()

Member Function Documentation

◆ calc_f()

◆ calc_u()

◆ calc_x_k()

Member Data Documentation

◆ x_k_e