Public Member Functions | Private Member Functions | Private Attributes | List of all members
rats::extended_preview_control Class Reference

#include <PreviewController.h>

Inheritance diagram for rats::extended_preview_control:
Inheritance graph
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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_baseoperator= (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

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.

virtual rats::extended_preview_control::~extended_preview_control ( )
inlinevirtual

Definition at line 240 of file PreviewController.h.

Member Function Documentation

void extended_preview_control::calc_f ( )
privatevirtual

Implements rats::preview_control_base< 4 >.

Definition at line 59 of file PreviewController.cpp.

void extended_preview_control::calc_u ( )
privatevirtual

Implements rats::preview_control_base< 4 >.

Definition at line 74 of file PreviewController.cpp.

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

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:


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