ex_4_plan_LIPM_romeo Namespace Reference

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

Variable Documentation

A

ex_4_plan_LIPM_romeo.A = np.concatenate((A_terminal, A_zmp), axis=0)

Definition at line 110 of file ex_4_plan_LIPM_romeo.py.

b

ex_4_plan_LIPM_romeo.b = np.concatenate((b_terminal, b_zmp), axis=0)

Definition at line 111 of file ex_4_plan_LIPM_romeo.py.

com_state_x

ex_4_plan_LIPM_romeo.com_state_x = np.vstack((x_0, com_state_x))

Definition at line 163 of file ex_4_plan_LIPM_romeo.py.

com_state_y

ex_4_plan_LIPM_romeo.com_state_y = np.vstack((y_0, com_state_y))

Definition at line 164 of file ex_4_plan_LIPM_romeo.py.

cop_ref

ex_4_plan_LIPM_romeo.cop_ref

Initial value:

=  reference_trajectories.create_CoP_trajectory(
    conf.nb_steps, foot_steps, N, nb_dt_per_step
)

Definition at line 64 of file ex_4_plan_LIPM_romeo.py.

cop_x

ex_4_plan_LIPM_romeo.cop_x = U[0:N]

Definition at line 118 of file ex_4_plan_LIPM_romeo.py.

cop_y

ex_4_plan_LIPM_romeo.cop_y = U[N : 2 * N]

Definition at line 119 of file ex_4_plan_LIPM_romeo.py.

foot_length

ex_4_plan_LIPM_romeo.foot_length = conf.lxn + conf.lxp

Definition at line 45 of file ex_4_plan_LIPM_romeo.py.

foot_steps

ex_4_plan_LIPM_romeo.foot_steps

Initial value:

=  reference_trajectories.manual_foot_placement(
    conf.foot_step_0, conf.step_length, conf.nb_steps
)

Definition at line 60 of file ex_4_plan_LIPM_romeo.py.

foot_width

ex_4_plan_LIPM_romeo.foot_width = conf.lyn + conf.lyp

Definition at line 46 of file ex_4_plan_LIPM_romeo.py.

max_admissible_cop

ex_4_plan_LIPM_romeo.max_admissible_cop = cop_ref + np.tile([foot_length / 2, foot_width / 2], (N, 1))

Definition at line 132 of file ex_4_plan_LIPM_romeo.py.

min_admissible_CoP

ex_4_plan_LIPM_romeo.min_admissible_CoP = cop_ref - np.tile([foot_length / 2, foot_width / 2], (N, 1))

Definition at line 131 of file ex_4_plan_LIPM_romeo.py.

N

ex_4_plan_LIPM_romeo.N = conf.nb_steps * nb_dt_per_step

Definition at line 48 of file ex_4_plan_LIPM_romeo.py.

nb_dt_per_step

ex_4_plan_LIPM_romeo.nb_dt_per_step = round(conf.T_step / conf.dt_mpc)

Definition at line 47 of file ex_4_plan_LIPM_romeo.py.

nb_terminal_constraints

int ex_4_plan_LIPM_romeo.nb_terminal_constraints = 4

Definition at line 76 of file ex_4_plan_LIPM_romeo.py.

step_width

int ex_4_plan_LIPM_romeo.step_width = 2 * np.absolute(y_0[0])

Definition at line 56 of file ex_4_plan_LIPM_romeo.py.

terminal_index

int ex_4_plan_LIPM_romeo.terminal_index = N - 1

Definition at line 77 of file ex_4_plan_LIPM_romeo.py.

time

ex_4_plan_LIPM_romeo.time = np.arange(0, round(N * conf.dt_mpc, 2), conf.dt_mpc)

Definition at line 130 of file ex_4_plan_LIPM_romeo.py.

U

ex_4_plan_LIPM_romeo.U

Initial value:

=  solve_qp(Q, -p_k, A.T, b, nb_terminal_constraints)[
    0
]

Definition at line 115 of file ex_4_plan_LIPM_romeo.py.

x_0

ex_4_plan_LIPM_romeo.x_0 = np.array([conf.foot_step_0[0], 0.0])

Definition at line 53 of file ex_4_plan_LIPM_romeo.py.

x_terminal

ex_4_plan_LIPM_romeo.x_terminal

Initial value:

=  np.array(
    [cop_ref[N - 1, 0], 0.0]
)

Definition at line 70 of file ex_4_plan_LIPM_romeo.py.

y_0

ex_4_plan_LIPM_romeo.y_0 = np.array([conf.foot_step_0[1], 0.0])

Definition at line 54 of file ex_4_plan_LIPM_romeo.py.

y_terminal

ex_4_plan_LIPM_romeo.y_terminal

Initial value:

=  np.array(
    [cop_ref[N - 1, 1], 0.0]
)

Definition at line 73 of file ex_4_plan_LIPM_romeo.py.