lipm_walking::Preview Struct Reference

#include <lipm_walking/Preview.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Preview ()
	Preview (const Eigen::VectorXd &stateTraj, const Eigen::VectorXd &inputTraj)
void	integrate (mc_planning::Pendulum &state, double dt)
void	integratePlayback (mc_planning::Pendulum &state, double dt)
void	integratePostPlayback (mc_planning::Pendulum &state, double dt)
unsigned	playbackStep () const
double	playbackTime () const

Detailed Description

Solution of a model predictive control problem.

Note

A Preview is mostly an integrator. Its implementation is coupled with the formulation of state and input trajectories in the ModelPredictiveControl class.

Definition at line 42 of file Preview.h.

Constructor & Destructor Documentation

Preview() [1/2]

lipm_walking::Preview::Preview

(

)

Initialize with zero state and input trajectories.

Definition at line 49 of file Preview.cpp.

Preview() [2/2]

lipm_walking::Preview::Preview	(	const Eigen::VectorXd &	stateTraj,
		const Eigen::VectorXd &	inputTraj
	)

Initialize solution from trajectories.

Parameters

stateTraj	State trajectory.
inputTraj	Input trajectory.

Definition at line 55 of file Preview.cpp.

Member Function Documentation

integrate()

void lipm_walking::Preview::integrate	(	mc_planning::Pendulum &	state,
		double	dt
	)

Integrate playback on reference.

Parameters

state	State to integrate.
dt	Duration.

Definition at line 65 of file Preview.cpp.

integratePlayback()

void lipm_walking::Preview::integratePlayback	(	mc_planning::Pendulum &	state,
		double	dt
	)

Playback integration of state reference.

Parameters

state	State to integrate.
dt	Duration.

Definition at line 77 of file Preview.cpp.

integratePostPlayback()

void lipm_walking::Preview::integratePostPlayback	(	mc_planning::Pendulum &	state,
		double	dt
	)

Post-playback integration of state reference.

Parameters

state	State to integrate.
dt	Duration.

Definition at line 90 of file Preview.cpp.

playbackStep()

unsigned lipm_walking::Preview::playbackStep ( ) const

inline

Get current playback step.

Definition at line 90 of file Preview.h.

playbackTime()

double lipm_walking::Preview::playbackTime ( ) const

inline

Get current playback time.

Definition at line 98 of file Preview.h.

---

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

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