lipm_walking Namespace Reference

Namespaces
	states
	utils

Classes
struct	Contact
struct	Controller
struct	ExternalPlanner
	Handle requesting/receiving a footstep plan from an external planner. More...
struct	FootstepPlan
struct	ModelPredictiveControl
struct	PlanInterpolator
struct	Preview
struct	Sole
struct	State
struct	SwingFoot

Typedefs
using	HrepXd = std::pair< Eigen::MatrixXd, Eigen::VectorXd >
using	ContactState = mc_tasks::lipm_stabilizer::ContactState
using	SE2d = utils::SE2d
using	Pendulum = mc_planning::Pendulum

Enumerations
enum class	WalkingState { Standby = 0 , Standing , DoubleSupport , SingleSupport }

Functions
Contact	operator* (const sva::PTransformd &X, const Contact &contact)
double	floorn (double x, int n)

Variables
constexpr double	PREVIEW_UPDATE_PERIOD = ModelPredictiveControl::SAMPLING_PERIOD

Detailed Description

Main controller namespace.

Typedef Documentation

ContactState

typedef mc_tasks::lipm_stabilizer::ContactState lipm_walking::ContactState

Definition at line 46 of file Contact.h.

HrepXd

using lipm_walking::HrepXd = typedef std::pair<Eigen::MatrixXd, Eigen::VectorXd>

Definition at line 44 of file Contact.h.

Pendulum

using lipm_walking::Pendulum = typedef mc_planning::Pendulum

Definition at line 37 of file Preview.cpp.

SE2d

using lipm_walking::SE2d = typedef utils::SE2d

Definition at line 12 of file ExternalPlanner.cpp.

Enumeration Type Documentation

WalkingState

enum lipm_walking::WalkingState

strong

Enumerator
Standby
Standing
DoubleSupport
SingleSupport

Definition at line 6 of file WalkingState.h.

Function Documentation

floorn()

double lipm_walking::floorn ( double  x, int  n  )

inline

Definition at line 37 of file PlanInterpolator.cpp.

operator*()

Contact lipm_walking::operator* ( const sva::PTransformd &  X, const Contact &  contact  )

inline

Apply Plucker transform to contact frame.

Parameters

X	Transform to apply.
contact	Contact frame.

Definition at line 325 of file Contact.h.

Variable Documentation

PREVIEW_UPDATE_PERIOD

constexpr double lipm_walking::PREVIEW_UPDATE_PERIOD = ModelPredictiveControl::SAMPLING_PERIOD

constexpr

Preview update period, same as MPC sampling period.

Definition at line 55 of file Controller.h.