lipm_walking::Controller Struct Reference

#include <lipm_walking/Controller.h>

Inheritance diagram for lipm_walking::Controller:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Controller (mc_rbdyn::RobotModulePtr robot, double dt, const mc_rtc::Configuration &config, mc_control::ControllerParameters params={})
void	reset (const mc_control::ControllerResetData &data) override
void	addGUIElements (std::shared_ptr< mc_rtc::gui::StateBuilder > gui)
void	addGUIMarkers (std::shared_ptr< mc_rtc::gui::StateBuilder > gui)
void	addLogEntries (mc_rtc::Logger &logger)
void	leftFootRatio (double ratio)
void	loadFootstepPlan (std::string name)
void	updatePlan (const std::string &name)
void	pauseWalkingCallback (bool verbose=false)
virtual bool	run () override
void	startLogSegment (const std::string &label)
void	stopLogSegment ()
bool	updatePreview ()
void	warnIfRobotIsInTheAir ()
mc_rbdyn::Robot &	controlRobot ()
double	doubleSupportDuration ()
bool	isLastDSP ()
bool	isLastSSP ()
double	leftFootRatio ()
double	measuredLeftFootRatio ()
ModelPredictiveControl &	mpc ()
const Contact &	nextContact () const
void	nextDoubleSupportDuration (double duration)
mc_planning::Pendulum &	pendulum ()
const Contact &	prevContact () const
double	singleSupportDuration ()
const Sole &	sole () const
std::shared_ptr< mc_tasks::lipm_stabilizer::StabilizerTask >	stabilizer ()
void	setContacts (const std::vector< std::pair< mc_tasks::lipm_stabilizer::ContactState, sva::PTransformd >> &contacts, bool fullDoF=false)
const Contact &	supportContact ()
const Contact &	targetContact ()
bool	isInOpenLoopTicker () const

Public Attributes
WalkingState	walkingState = WalkingState::Standby
FootstepPlan	plan
PlanInterpolator	planInterpolator
ExternalPlanner	externalFootstepPlanner
	Handle requesting/receiving plans from an external planner. More...
bool	emergencyStop = false
bool	startWalking = false
bool	pauseWalking = false
bool	pauseWalkingRequested = false
std::shared_ptr< Preview >	preview
std::vector< std::vector< double > >	halfSitPose
std::shared_ptr< mc_tasks::SurfaceTransformTask >	swingFootTaskLeft_
std::shared_ptr< mc_tasks::SurfaceTransformTask >	swingFootTaskRight_
bool	isWalking = false
unsigned	nbMPCFailures_ = 0

Detailed Description

Main controller class.

Definition at line 60 of file Controller.h.

Constructor & Destructor Documentation

Controller()

lipm_walking::Controller::Controller	(	mc_rbdyn::RobotModulePtr	robot,
		double	dt,
		const mc_rtc::Configuration &	config,
		mc_control::ControllerParameters	params = {}
	)

Initialize the controller.

Parameters

robot	Robot model.
dt	Control timestep.
config	Configuration dictionary.

Definition at line 39 of file Controller.cpp.

Member Function Documentation

addGUIElements()

void lipm_walking::Controller::addGUIElements

(

std::shared_ptr< mc_rtc::gui::StateBuilder >

gui

)

Add GUI panel.

Parameters

gui	GUI handle.

Definition at line 203 of file Controller.cpp.

addGUIMarkers()

void lipm_walking::Controller::addGUIMarkers

(

std::shared_ptr< mc_rtc::gui::StateBuilder >

gui

)

Add GUI markers.

Parameters

gui	GUI handle.

addLogEntries()

void lipm_walking::Controller::addLogEntries

(

mc_rtc::Logger &

logger

)

Log controller entries.

Parameters

logger

Logger.

Definition at line 174 of file Controller.cpp.

controlRobot()

mc_rbdyn::Robot& lipm_walking::Controller::controlRobot ( )

inline

Get control robot state.

Definition at line 159 of file Controller.h.

doubleSupportDuration()

double lipm_walking::Controller::doubleSupportDuration ( )

inline

Get next double support duration.

Definition at line 167 of file Controller.h.

isInOpenLoopTicker()

bool lipm_walking::Controller::isInOpenLoopTicker

(

)

const

Returns true if the controller is running in an open-loop ticker

Definition at line 555 of file Controller.cpp.

isLastDSP()

bool lipm_walking::Controller::isLastDSP ( )

inline

True after the last step.

Definition at line 185 of file Controller.h.

isLastSSP()

bool lipm_walking::Controller::isLastSSP ( )

inline

True during the last step.

Definition at line 193 of file Controller.h.

leftFootRatio() [1/2]

double lipm_walking::Controller::leftFootRatio ( )

inline

Get fraction of total weight that should be sustained by the left foot.

Definition at line 201 of file Controller.h.

leftFootRatio() [2/2]

void lipm_walking::Controller::leftFootRatio

(

double

ratio

)

Set fraction of total weight that should be sustained by the left foot.

Parameters

ratio

Number between 0 and 1.

Definition at line 342 of file Controller.cpp.

loadFootstepPlan()

void lipm_walking::Controller::loadFootstepPlan

(

std::string

name

)

Load footstep plan from configuration.

Parameters

name	Plan name.

Definition at line 447 of file Controller.cpp.

measuredLeftFootRatio()

double lipm_walking::Controller::measuredLeftFootRatio ( )

inline

Estimate left foot pressure ratio from force sensors.

Definition at line 209 of file Controller.h.

mpc()

ModelPredictiveControl& lipm_walking::Controller::mpc ( )

inline

Get model predictive control solver.

Definition at line 221 of file Controller.h.

nextContact()

const Contact& lipm_walking::Controller::nextContact ( ) const

inline

Get next contact in plan.

Definition at line 229 of file Controller.h.

nextDoubleSupportDuration()

void lipm_walking::Controller::nextDoubleSupportDuration ( double  duration )

inline

Override next DSP duration.

Parameters

duration

Custom DSP duration.

Definition at line 239 of file Controller.h.

pauseWalkingCallback()

void lipm_walking::Controller::pauseWalkingCallback

(

bool

verbose = false

)

Callback function called by "Pause walking" button.

Parameters

verbose

Talk to user on the command line.

Definition at line 393 of file Controller.cpp.

pendulum()

mc_planning::Pendulum& lipm_walking::Controller::pendulum ( )

inline

This getter is only used for consistency with the rest of mc_rtc.

Definition at line 247 of file Controller.h.

prevContact()

const Contact& lipm_walking::Controller::prevContact ( ) const

inline

Get previous contact in plan.

Definition at line 255 of file Controller.h.

reset()

void lipm_walking::Controller::reset ( const mc_control::ControllerResetData &  data )

override

Reset controller.

Parameters

data	Reset data.

Definition at line 297 of file Controller.cpp.

run()

bool lipm_walking::Controller::run ( )

overridevirtual

Main function of the controller, called at every control cycle.

Definition at line 352 of file Controller.cpp.

setContacts()

void lipm_walking::Controller::setContacts	(	const std::vector< std::pair< mc_tasks::lipm_stabilizer::ContactState, sva::PTransformd >> &	contacts,
		bool	fullDoF = false
	)

Definition at line 317 of file Controller.cpp.

singleSupportDuration()

double lipm_walking::Controller::singleSupportDuration ( )

inline

Get next SSP duration.

Definition at line 263 of file Controller.h.

sole()

const Sole& lipm_walking::Controller::sole ( ) const

inline

Get model sole properties.

Definition at line 271 of file Controller.h.

stabilizer()

std::shared_ptr<mc_tasks::lipm_stabilizer::StabilizerTask> lipm_walking::Controller::stabilizer ( )

inline

This getter is only used for consistency with the rest of mc_rtc.

Definition at line 279 of file Controller.h.

startLogSegment()

void lipm_walking::Controller::startLogSegment

(

const std::string &

label

)

Start new log segment.

Parameters

label

Segment label.

Definition at line 523 of file Controller.cpp.

stopLogSegment()

void lipm_walking::Controller::stopLogSegment

(

)

Stop current log segment.

Definition at line 533 of file Controller.cpp.

supportContact()

const Contact& lipm_walking::Controller::supportContact ( )

inline

Get current support contact.

Definition at line 291 of file Controller.h.

targetContact()

const Contact& lipm_walking::Controller::targetContact ( )

inline

Get current target contact.

Definition at line 299 of file Controller.h.

updatePlan()

void lipm_walking::Controller::updatePlan

(

const std::string &

name

)

Definition at line 485 of file Controller.cpp.

updatePreview()

bool lipm_walking::Controller::updatePreview

(

)

Update horizontal MPC preview.

Definition at line 539 of file Controller.cpp.

warnIfRobotIsInTheAir()

void lipm_walking::Controller::warnIfRobotIsInTheAir

(

)

Log a warning message when robot is in the air.

Definition at line 423 of file Controller.cpp.

Member Data Documentation

emergencyStop

bool lipm_walking::Controller::emergencyStop = false

Emergency flag: if on, the controller stops doing anything

Definition at line 313 of file Controller.h.

externalFootstepPlanner

ExternalPlanner lipm_walking::Controller::externalFootstepPlanner

Handle requesting/receiving plans from an external planner.

Definition at line 312 of file Controller.h.

halfSitPose

std::vector<std::vector<double> > lipm_walking::Controller::halfSitPose

Half-sit joint-angle configuration stored when the controller starts.

Definition at line 319 of file Controller.h.

isWalking

bool lipm_walking::Controller::isWalking = false

Definition at line 323 of file Controller.h.

nbMPCFailures_

unsigned lipm_walking::Controller::nbMPCFailures_ = 0

Number of times the walking pattern generator failed

Definition at line 324 of file Controller.h.

pauseWalking

bool lipm_walking::Controller::pauseWalking = false

Is the pause-walking behavior engaged?

Definition at line 315 of file Controller.h.

pauseWalkingRequested

bool lipm_walking::Controller::pauseWalkingRequested = false

Has user clicked on the "Pause walking" button?

Definition at line 316 of file Controller.h.

plan

FootstepPlan lipm_walking::Controller::plan

Current footstep plan

Definition at line 309 of file Controller.h.

planInterpolator

PlanInterpolator lipm_walking::Controller::planInterpolator

Footstep plan interpolator. Used to generate a simple FootstepPlan when we are not using an external planner

Definition at line 310 of file Controller.h.

preview

std::shared_ptr<Preview> lipm_walking::Controller::preview

Current solution trajectory from the walking pattern generator

Definition at line 317 of file Controller.h.

startWalking

bool lipm_walking::Controller::startWalking = false

Is the walk started

Definition at line 314 of file Controller.h.

swingFootTaskLeft_

std::shared_ptr<mc_tasks::SurfaceTransformTask> lipm_walking::Controller::swingFootTaskLeft_

Definition at line 321 of file Controller.h.

swingFootTaskRight_

std::shared_ptr<mc_tasks::SurfaceTransformTask> lipm_walking::Controller::swingFootTaskRight_

Definition at line 322 of file Controller.h.

walkingState

WalkingState lipm_walking::Controller::walkingState = WalkingState::Standby

Current state

Definition at line 308 of file Controller.h.

---

The documentation for this struct was generated from the following files:

• include/lipm_walking/Controller.h
• src/Controller.cpp