#include <hpp/gik/motionplanner/preview-controller.hh>
Public Member Functions | |
ChppGikPreviewController (double inSamplingPeriod) | |
Constructor. | |
bool | ZMPtoCOM (const matrixNxP &inZMP, matrixNxP &outCOM) |
Compute COM motion from ZMP motion. | |
bool | newComFromZmpError (matrixNxP &io_trajCom, matrixNxP &zmpError) |
Filtering of Com motion from Zmp computed error. | |
double | previewTime () |
The time corresponding to the preview window. | |
unsigned int | numberPreviewSamples () |
The number of ZMP samples required to plan a single COM state. | |
~ChppGikPreviewController () | |
Destructor. |
ChppGikPreviewController::ChppGikPreviewController | ( | double | inSamplingPeriod | ) |
Constructor.
inSamplingPeriod,: | currently only two values supported : 5e-3 and 5e-2. If the value entered in the constructor call is different the instance cannot be constructed. The used gains were computed for a robot having its center of mass at height 0.80914. The program using this class needs to find either of the files "preview-controller-5ms.ini" and "preview-controller-50ms.ini" in the running directory |
ChppGikPreviewController::~ChppGikPreviewController | ( | ) | [inline] |
Destructor.
Filtering of Com motion from Zmp computed error.
unsigned int ChppGikPreviewController::numberPreviewSamples | ( | ) |
The number of ZMP samples required to plan a single COM state.
double ChppGikPreviewController::previewTime | ( | ) |
The time corresponding to the preview window.
Compute COM motion from ZMP motion.
inZMP | is a two-row matrix; column1 for X and column2 for Y. the first column gives the initial position of the center of mass |
outCOM | is a two-row matrix used to store the computed com trajectory. The number of computed samples is equal to numberZMPSamples - numberPreviewSamples() +1. outCOM is automatically resized. |