preview_control.h
Go to the documentation of this file.
1 /*******************************************************************************
2 * Copyright 2018 ROBOTIS CO., LTD.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *******************************************************************************/
16 
17 #ifndef ROBOTIS_MATH_PREVIEW_CONTROL_H_
18 #define ROBOTIS_MATH_PREVIEW_CONTROL_H_
19 
20 #define EIGEN_NO_DEBUG
21 #define EIGEN_NO_STATIC_ASSERT
22 
23 #include "robotis_linear_algebra.h"
24 #include "robotis_math_base.h"
25 
26 #include <ros/ros.h>
27 #include <stdint.h>
28 #include <vector>
29 
30 namespace robotis_framework
31 {
32 
34 {
35 public:
37  virtual ~PreviewControl();
38 
39  Eigen::MatrixXd calcPreviewParam(double preview_time, double control_cycle,
40  double lipm_height,
41  Eigen::MatrixXd K, Eigen::MatrixXd P);
42 
43 private:
44 
45 };
46 
47 }
48 
49 #endif /* ROBOTIS_MATH_MINIMUM_JERK_TRAJECTORY_H_ */
Eigen::MatrixXd calcPreviewParam(double preview_time, double control_cycle, double lipm_height, Eigen::MatrixXd K, Eigen::MatrixXd P)


robotis_math
Author(s): SCH , Kayman , Jay Song
autogenerated on Fri Mar 23 2018 02:17:46