ChppGikPreviewController Class Reference

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

Public Member Functions

 ChppGikPreviewController (double inSamplingPeriod)
 Constructor. More...
 
bool ZMPtoCOM (const matrixNxP &inZMP, matrixNxP &outCOM)
 Compute COM motion from ZMP motion. More...
 
bool newComFromZmpError (matrixNxP &io_trajCom, matrixNxP &zmpError)
 Filtering of Com motion from Zmp computed error. More...
 
double previewTime ()
 The time corresponding to the preview window. More...
 
unsigned int numberPreviewSamples ()
 The number of ZMP samples required to plan a single COM state. More...
 
 ~ChppGikPreviewController ()
 Destructor. More...
 

Constructor & Destructor Documentation

◆ ChppGikPreviewController()

ChppGikPreviewController::ChppGikPreviewController ( double  inSamplingPeriod)

Constructor.

Parameters
inSamplingPeriodcurrently 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::~ChppGikPreviewController ( )
inline

Destructor.

Member Function Documentation

◆ newComFromZmpError()

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

Filtering of Com motion from Zmp computed error.

◆ numberPreviewSamples()

unsigned int ChppGikPreviewController::numberPreviewSamples ( )

The number of ZMP samples required to plan a single COM state.

◆ previewTime()

double ChppGikPreviewController::previewTime ( )

The time corresponding to the preview window.

◆ ZMPtoCOM()

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