|
| | ex_4_plan_LIPM_romeo.A = np.concatenate((A_terminal, A_zmp), axis=0) |
| |
| | ex_4_plan_LIPM_romeo.b = np.concatenate((b_terminal, b_zmp), axis=0) |
| |
| | ex_4_plan_LIPM_romeo.com_state_x = np.vstack((x_0, com_state_x)) |
| |
| | ex_4_plan_LIPM_romeo.com_state_y = np.vstack((y_0, com_state_y)) |
| |
| | ex_4_plan_LIPM_romeo.cop_ref |
| |
| | ex_4_plan_LIPM_romeo.cop_x = U[0:N] |
| |
| | ex_4_plan_LIPM_romeo.cop_y = U[N : 2 * N] |
| |
| | ex_4_plan_LIPM_romeo.foot_length = conf.lxn + conf.lxp |
| |
| | ex_4_plan_LIPM_romeo.foot_steps |
| |
| | ex_4_plan_LIPM_romeo.foot_width = conf.lyn + conf.lyp |
| |
| | ex_4_plan_LIPM_romeo.max_admissible_cop = cop_ref + np.tile([foot_length / 2, foot_width / 2], (N, 1)) |
| |
| | ex_4_plan_LIPM_romeo.min_admissible_CoP = cop_ref - np.tile([foot_length / 2, foot_width / 2], (N, 1)) |
| |
| | ex_4_plan_LIPM_romeo.N = conf.nb_steps * nb_dt_per_step |
| |
| | ex_4_plan_LIPM_romeo.nb_dt_per_step = round(conf.T_step / conf.dt_mpc) |
| |
| int | ex_4_plan_LIPM_romeo.nb_terminal_constraints = 4 |
| |
| int | ex_4_plan_LIPM_romeo.step_width = 2 * np.absolute(y_0[0]) |
| |
| int | ex_4_plan_LIPM_romeo.terminal_index = N - 1 |
| |
| | ex_4_plan_LIPM_romeo.time = np.arange(0, round(N * conf.dt_mpc, 2), conf.dt_mpc) |
| |
| | ex_4_plan_LIPM_romeo.U |
| |
| | ex_4_plan_LIPM_romeo.x_0 = np.array([conf.foot_step_0[0], 0.0]) |
| |
| | ex_4_plan_LIPM_romeo.x_terminal |
| |
| | ex_4_plan_LIPM_romeo.y_0 = np.array([conf.foot_step_0[1], 0.0]) |
| |
| | ex_4_plan_LIPM_romeo.y_terminal |
| |