#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

Detailed Description

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

Definition at line 51 of file PreviewController.h.

Constructor & Destructor Documentation

◆ preview_control_base() [1/2]

template<std::size_t dim>

rats::preview_control_base< dim >::preview_control_base ( const preview_control_base< dim > & _p )

protected

◆ preview_control_base() [2/2]

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.

◆ ~preview_control_base()

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

◆ calc_f()

template<std::size_t dim>

virtual void rats::preview_control_base< dim >::calc_f ( )

protectedpure virtual

Implemented in rats::extended_preview_control, and rats::preview_control.

◆ calc_u()

template<std::size_t dim>

virtual void rats::preview_control_base< dim >::calc_u ( )

protectedpure virtual

Implemented in rats::extended_preview_control, and rats::preview_control.

◆ calc_x_k()

template<std::size_t dim>

virtual void rats::preview_control_base< dim >::calc_x_k ( )

protectedpure virtual

Implemented in rats::extended_preview_control, and rats::preview_control.

◆ get_cart_zmp()

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.

◆ get_current_qdata()

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.

◆ get_current_refzmp()

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.

◆ get_delay()

template<std::size_t dim>

size_t rats::preview_control_base< dim >::get_delay ( )

inline

Definition at line 115 of file PreviewController.h.

◆ get_preview_f()

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.

◆ get_preview_queue_size()

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.

◆ get_refcog()

template<std::size_t dim>

void rats::preview_control_base< dim >::get_refcog ( double * ret )

inline

Definition at line 117 of file PreviewController.h.

◆ get_refcog_acc()

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.

◆ get_refcog_vel()

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.

◆ init_riccati()

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.

◆ is_doing()

template<std::size_t dim>

bool rats::preview_control_base< dim >::is_doing ( )

inline

Definition at line 152 of file PreviewController.h.

◆ is_end()

template<std::size_t dim>

bool rats::preview_control_base< dim >::is_end ( )

inline

Definition at line 153 of file PreviewController.h.

◆ operator=()

template<std::size_t dim>

preview_control_base& rats::preview_control_base< dim >::operator= ( const preview_control_base< dim > & _p )

protected

◆ print_all_queue()

template<std::size_t dim>

void rats::preview_control_base< dim >::print_all_queue ( )

inline

Definition at line 182 of file PreviewController.h.

◆ remove_preview_queue() [1/2]

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.

◆ remove_preview_queue() [2/2]

template<std::size_t dim>

void rats::preview_control_base< dim >::remove_preview_queue ( )

inline

Definition at line 163 of file PreviewController.h.

◆ set_preview_queue()

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.

◆ update_x_k() [1/2]

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.

◆ update_x_k() [2/2]

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

◆ cog_z

template<std::size_t dim>

double rats::preview_control_base< dim >::cog_z

protected

Definition at line 64 of file PreviewController.h.

◆ delay

template<std::size_t dim>

size_t rats::preview_control_base< dim >::delay

protected

Definition at line 65 of file PreviewController.h.

◆ ending_count

template<std::size_t dim>

size_t rats::preview_control_base< dim >::ending_count

protected

Definition at line 65 of file PreviewController.h.

◆ f

template<std::size_t dim>

hrp::dvector rats::preview_control_base< dim >::f

protected

Definition at line 60 of file PreviewController.h.

◆ p

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.

◆ pz

template<std::size_t dim>

std::deque<double> rats::preview_control_base< dim >::pz

protected

Definition at line 62 of file PreviewController.h.

◆ qdata

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.

◆ riccati

template<std::size_t dim>

riccati_equation<dim> rats::preview_control_base< dim >::riccati

protected

Definition at line 54 of file PreviewController.h.

◆ tcA

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.

◆ tcb

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.

◆ tcc

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.

◆ u_k

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.

◆ x_k

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.

◆ zmp_z

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:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ preview_control_base() [1/2]

◆ preview_control_base() [2/2]

◆ ~preview_control_base()

Member Function Documentation

◆ calc_f()

◆ calc_u()

◆ calc_x_k()

◆ get_cart_zmp()

◆ get_current_qdata()

◆ get_current_refzmp()

◆ get_delay()

◆ get_preview_f()

◆ get_preview_queue_size()

◆ get_refcog()

◆ get_refcog_acc()

◆ get_refcog_vel()

◆ init_riccati()

◆ is_doing()

◆ is_end()

◆ operator=()

◆ print_all_queue()

◆ remove_preview_queue() [1/2]

◆ remove_preview_queue() [2/2]

◆ set_preview_queue()

◆ update_x_k() [1/2]

◆ update_x_k() [2/2]

Member Data Documentation

◆ cog_z

◆ delay

◆ ending_count

◆ f

◆ p

◆ pz

◆ qdata

◆ riccati

◆ tcA

◆ tcb

◆ tcc

◆ u_k

◆ x_k

◆ zmp_z

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