Main controller namespace. More...

Namespaces
	states
	States of the controller's finite state machine.

	utils

Classes
struct	Contact
	Contacts wrap foot frames with extra info from the footstep plan. More...

struct	Controller
	Main controller class. More...

struct	ExternalPlanner
	Handle requesting/receiving a footstep plan from an external planner. More...

struct	FootstepPlan
	Sequence of footsteps with gait parameters. More...

struct	ModelPredictiveControl
	Model predictive control problem. More...

struct	PlanInterpolator
	Footstep plan interpolator. More...

struct	Preview
	Solution of a model predictive control problem. More...

struct	Sole
	Foot sole properties. More...

struct	State
	Convenience wrapper for FSM states. More...

struct	SwingFoot
	Swing foot interpolator. More...

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	WalkingState { WalkingState::Standby = 0, WalkingState::Standing, WalkingState::DoubleSupport, WalkingState::SingleSupport }

Functions
Contact	operator* (const sva::PTransformd &X, const Contact &contact)
	Apply Plucker transform to contact frame. More...

double	floorn (double x, int n)

Variables
constexpr double	PREVIEW_UPDATE_PERIOD = ModelPredictiveControl::SAMPLING_PERIOD
	Preview update period, same as MPC sampling period. More...

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.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables