ChppGikPreviewController Class Reference

#include <hpp/gik/motionplanner/preview-controller.hh>

List of all members.

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.

Constructor & Destructor Documentation

ChppGikPreviewController::ChppGikPreviewController ( double  inSamplingPeriod)

Constructor.

Parameters:
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.


Member Function Documentation

bool ChppGikPreviewController::newComFromZmpError ( matrixNxP io_trajCom,
matrixNxP zmpError 
)

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.

bool ChppGikPreviewController::ZMPtoCOM ( const matrixNxP inZMP,
matrixNxP outCOM 
)

Compute COM motion from ZMP motion.

Parameters:
inZMPis a two-row matrix; column1 for X and column2 for Y. the first column gives the initial position of the center of mass
outCOMis 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.
Returns:
false if inZMP does not hold enough samples or other paramters fail to match expected (minimum)size