#include <hpp/gik/motionplanner/preview-controller.hh>
◆ ChppGikPreviewController()
ChppGikPreviewController::ChppGikPreviewController |
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double |
inSamplingPeriod | ) |
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Constructor.
- Parameters
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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::~ChppGikPreviewController |
( |
| ) |
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inline |
◆ newComFromZmpError()
bool ChppGikPreviewController::newComFromZmpError |
( |
matrixNxP & |
io_trajCom, |
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matrixNxP & |
zmpError |
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) |
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Filtering of Com motion from Zmp computed error.
◆ numberPreviewSamples()
unsigned int ChppGikPreviewController::numberPreviewSamples |
( |
| ) |
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The number of ZMP samples required to plan a single COM state.
◆ previewTime()
double ChppGikPreviewController::previewTime |
( |
| ) |
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The time corresponding to the preview window.
◆ ZMPtoCOM()
Compute COM motion from ZMP motion.
- Parameters
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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. |
- Returns
- false if inZMP does not hold enough samples or other paramters fail to match expected (minimum)size