AnalyticalZMPCOGTrajectory.cpp File Reference
#include <iostream>
#include <fstream>
#include <math.h>
#include <Mathematics/AnalyticalZMPCOGTrajectory.hh>
#include <Debug.hh>
Include dependency graph for AnalyticalZMPCOGTrajectory.cpp:

Namespaces

 PatternGeneratorJRL
 \doc Simulate a rigid body
 

Functions

ostream & PatternGeneratorJRL::operator<< (ostream &os, const AnalyticalZMPCOGTrajectory &obj)
 
PatternGeneratorJRL::RigidBodySystem::multiBody
void multiBody(bool multiBody)
Definition: rigid-body-system.hh:152
icilist::iciunit
char * iciunit
Definition: qld.cpp:174
PatternGeneratorJRL::PreviewControl::SetHeightOfCoM
void SetHeightOfCoM(double lZc)
Definition: PreviewControl.cpp:125
nact
static integer nact
Definition: qld.cpp:405
PatternGeneratorJRL::StepOverSpline::StepOverSpline
StepOverSpline()
Definition: StepOverPolynome.cpp:268
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::ZMPCOM_TRAJECTORY_FIRST_STAGE_ONLY
static const int ZMPCOM_TRAJECTORY_FIRST_STAGE_ONLY
Definition: ZMPPreviewControlWithMultiBodyZMP.hh:200
inlist::infmtlen
ftnlen infmtlen
Definition: qld.cpp:226
PatternGeneratorJRL::RelativeFootPosition_s::stepType
int stepType
Definition: pgtypes.hh:105
t_cmache_::eps
doublereal eps
Definition: qld.cpp:337
PatternGeneratorJRL::ReferenceAbsoluteVelocity_t::x
double x
Definition: pgtypes.hh:209
L910
goto L910
Definition: qld.cpp:1224
PatternGeneratorJRL::FootAbsolutePosition_t::y
double y
Definition: pgtypes.hh:143
PatternGeneratorJRL::COMPosition_s::y
double y[3]
Definition: pgtypes.hh:54
kflag
static integer kflag
Definition: qld.cpp:658
res
static doublereal res
Definition: qld.cpp:676
PatternGeneratorJRL::PreviewControl::SetPreviewControlTime
void SetPreviewControlTime(double lPreviewControlTime)
Definition: PreviewControl.cpp:113
inlist::informlen
ftnint informlen
Definition: qld.cpp:228
iws
static integer iws
Definition: qld.cpp:677
irb
static integer irb
Definition: qld.cpp:673
PatternGeneratorJRL::OptimalControllerSolver::~OptimalControllerSolver
~OptimalControllerSolver()
Definition: OptimalControllerSolver.cpp:128
PatternGeneratorJRL::FootAbsolutePosition_t::dy
double dy
Definition: pgtypes.hh:145
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::ZMPCOM_TRAJECTORY_SECOND_STAGE_ONLY
static const int ZMPCOM_TRAJECTORY_SECOND_STAGE_ONLY
Definition: ZMPPreviewControlWithMultiBodyZMP.hh:197
PatternGeneratorJRL::IntermedQPMat::objective_variant_s::weight
double weight
Ponderation.
Definition: intermediate-qp-matrices.hh:89
FootConstraintsAsLinearSystem.hh
PatternGeneratorJRL::StepOverPolynomeHip4
Polynome for the hip trajectory.
Definition: StepOverPolynome.hh:105
MAL_VECTOR
#define MAL_VECTOR(name, type)
PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation
int Interpolation(std::deque< COMState > &COMStates, std::deque< ZMPPosition > &ZMPRefPositions, int CurrentPosition, double CX, double CY)
Interpolation during a simulation period with control parameters.
Definition: LinearizedInvertedPendulum2D.cpp:157
PatternGeneratorJRL::RigidBodySystem::LeftFoot
const RigidBody & LeftFoot() const
Definition: rigid-body-system.hh:111
PatternGeneratorJRL::IntermedQPMat::objective_variant_s
Definition: intermediate-qp-matrices.hh:86
PatternGeneratorJRL::Polynome::Degree
int Degree()
Definition: Polynome.hh:69
fdiffa
static doublereal fdiffa
Definition: qld.cpp:669
PatternGeneratorJRL::RigidBodySystem::CoM
void CoM(const RigidBody &CoM)
Definition: rigid-body-system.hh:108
PatternGeneratorJRL::ComputeConvexHull::ComputeConvexHull
ComputeConvexHull()
Definition: ConvexHull.cpp:77
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertCoefficientsFromCOGTrajectoryToZMPOne
void TransfertCoefficientsFromCOGTrajectoryToZMPOne(std::vector< double > &lCOMZ, std::vector< double > &lZMPZ)
Transfert the coefficients from the COG trajectory to the ZMP for all intervals.
Definition: AnalyticalZMPCOGTrajectory.cpp:412
PatternGeneratorJRL::IntermedQPMat::IntermedQPMat
IntermedQPMat()
Definition: intermediate-qp-matrices.cpp:34
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::~ZMPPreviewControlWithMultiBodyZMP
~ZMPPreviewControlWithMultiBodyZMP()
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:98
cilist::ciunit
ftnint ciunit
Definition: qld.cpp:165
liwar
integer * liwar
Definition: qld.cpp:391
PatternGeneratorJRL::OptimalControllerSolver::MODE_WITHOUT_INITIALPOS
static const unsigned int MODE_WITHOUT_INITIALPOS
Definition: OptimalControllerSolver.hh:143
PatternGeneratorJRL::OptimalControllerSolver::DisplayWeights
void DisplayWeights()
Definition: OptimalControllerSolver.cpp:354
PatternGeneratorJRL::ConvexHullList
std::vector< CH_Point > ConvexHullList
Definition: ConvexHull.hh:44
PatternGeneratorJRL::StepOverPolynomeFoot
Polynome used for Z trajectory during stepover.
Definition: StepOverPolynome.hh:47
PatternGeneratorJRL::FootHalfSize
Definition: FootHalfSize.hh:34
Optimization::Solver::PLDPSolver::ComputeAlpha
double ComputeAlpha(vector< unsigned int > &NewActivatedConstraints, vector< int > &SimilarConstraint)
Definition: PLDPSolver.cpp:534
cilist::cirec
ftnint cirec
Definition: qld.cpp:168
step
static doublereal step
Definition: qld.cpp:653
PatternGeneratorJRL::SupportFSM::m_SSPeriod
double m_SSPeriod
Definition: SupportFSM_backup.hh:52
PatternGeneratorJRL::Polynome5::Polynome5
Polynome5(double FT, double FP)
Constructor: FT: Final time FP: Final position.
Definition: PolynomeFoot.cpp:159
PatternGeneratorJRL::FootAbsolutePosition_t::ddomega2
double ddomega2
Definition: pgtypes.hh:147
mn
static integer mn
Definition: qld.cpp:409
PatternGeneratorJRL::FootHalfSize::FootHalfSize
FootHalfSize()
Definition: FootHalfSize.cpp:32
PatternGeneratorJRL::FootHalfSize::getHalfHeight
double getHalfHeight() const
Definition: FootHalfSize.cpp:86
c
doublereal * c
Definition: qld.cpp:388
rigid-body-system.hh
PatternGeneratorJRL::StepOverClampedCubicSpline::~StepOverClampedCubicSpline
~StepOverClampedCubicSpline()
Definition: StepOverPolynome.cpp:544
PatternGeneratorJRL::SupportFSM::SupportFSM
SupportFSM()
Constructor.
Definition: SupportFSM.cpp:34
PatternGeneratorJRL::CompareCBRep
double CompareCBRep(CH_Point &s1, CH_Point &s2)
Definition: ConvexHull.cpp:66
il
static integer il
Definition: qld.cpp:670
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::EvaluateStartingState
int EvaluateStartingState(MAL_VECTOR(&, double) BodyAngles, MAL_S3_VECTOR(&, double) aStartingCOMState, MAL_S3_VECTOR(&, double) aStartingZMPPosition, MAL_VECTOR(&, double) aStartingWaistPose, FootAbsolutePosition &InitLeftFootPosition, FootAbsolutePosition &InitRightFootPosition)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:797
PatternGeneratorJRL::RigidBodySystem::CoMHeight
void CoMHeight(double Height)
Definition: rigid-body-system.hh:147
PatternGeneratorJRL::PatternGeneratorInterface::~PatternGeneratorInterface
virtual ~PatternGeneratorInterface()
Definition: patterngeneratorinterface.hh:66
me
int * me
Definition: qld.cpp:387
ga
static doublereal ga
Definition: qld.cpp:667
sumx
static doublereal sumx
Definition: qld.cpp:655
PatternGeneratorJRL::ZMPPosition_s::pz
double pz
Definition: pgtypes.hh:122
Optimization::Solver::PLDPSolverHerdt::ForwardSubstitution
int ForwardSubstitution()
Forward substitution. First Phase EE^t v2 = v1 <-> LL^t v2 = v1 Now solving L y = v1.
Definition: PLDPHerdt.cpp:384
diagr
static doublereal diagr
Definition: qld.cpp:659
PatternGeneratorJRL::StepOverPolynomeFoot::StepOverPolynomeFoot
StepOverPolynomeFoot()
Definition: StepOverPolynome.cpp:40
cmache_1
#define cmache_1
Definition: qld.cpp:341
iwa
static integer iwa
Definition: qld.cpp:673
OptimalControllerSolver.hh
PatternGeneratorJRL::SupportFSM::DSSSPeriod
void DSSSPeriod(const double DSSSPeriod)
Definition: SupportFSM.hh:83
PatternGeneratorJRL::RigidBody::State
rigid_body_state_t & State()
Definition: rigid-body.hh:154
iy
static integer iy
Definition: qld.cpp:670
PatternGeneratorJRL::IntermedQPMat::Trunk
const trunk_t & Trunk() const
Definition: intermediate-qp-matrices.hh:128
jl
static integer jl
Definition: qld.cpp:670
Optimization::Solver::PLDPSolverHerdt::WriteCurrentZMPSolution
void WriteCurrentZMPSolution(string filename, double *XkYk)
Definition: PLDPHerdt.cpp:1073
lflag
static integer lflag
Definition: qld.cpp:658
PatternGeneratorJRL::RelativeFeetInequalities::RelativeFeetInequalities
RelativeFeetInequalities(SimplePluginManager *aSPM, CjrlHumanoidDynamicRobot *aHS)
Definition: relative-feet-inequalities.cpp:42
temp
static doublereal temp
Definition: qld.cpp:653
PatternGeneratorJRL::rigid_body_state_s::Z
boost_ublas::vector< double > Z
Definition: rigid-body.hh:44
lw
static integer lw
Definition: qld.cpp:409
flag
long flag
Definition: qld.cpp:157
PatternGeneratorJRL::COMState_s::pitch
double pitch[3]
Definition: pgtypes.hh:82
PatternGeneratorJRL::IntermedQPMat::~IntermedQPMat
~IntermedQPMat()
Definition: intermediate-qp-matrices.cpp:48
CjrlFoot::getAnklePositionInLocalFrame
virtual void getAnklePositionInLocalFrame(vector3d &outCoordinates) const=0
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetStrategyForPCStages
void SetStrategyForPCStages(int Strategy)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:829
PatternGeneratorJRL::LinearizedInvertedPendulum2D::SetSimulationControlPeriod
void SetSimulationControlPeriod(const double &)
Definition: LinearizedInvertedPendulum2D.cpp:78
PatternGeneratorJRL::LinearizedInvertedPendulum2D::GetSimulationControlPeriod
const double & GetSimulationControlPeriod() const
Definition: LinearizedInvertedPendulum2D.cpp:73
Optimization::Solver::PLDPSolverHerdt::ComputeProjectedDescentDirection
int ComputeProjectedDescentDirection(unsigned int NumberSteps)
Compute Projected descent direction.
Definition: PLDPHerdt.cpp:446
VOID
#define VOID
Definition: qld.cpp:237
L570
goto L570
Definition: qld.cpp:1517
PatternGeneratorJRL::IntermedQPMat::Inequalities
const linear_inequality_t & Inequalities(ineq_e type) const
Definition: intermediate-qp-matrices.cpp:86
PatternGeneratorJRL::IntermedQPMat::objective_variant_s::print
std::ostream & print(std::ostream &o) const
Definition: intermediate-qp-matrices.cpp:173
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_PolynomialDegree
std::vector< unsigned int > m_PolynomialDegree
Definition: AnalyticalZMPCOGTrajectory.hh:249
PatternGeneratorJRL::rigid_body_state_s::Yaw
boost_ublas::vector< double > Yaw
Definition: rigid-body.hh:50
PatternGeneratorJRL::Polynome5::SetParameters
void SetParameters(double FT, double FP)
Set the parameters.
Definition: PolynomeFoot.cpp:174
PatternGeneratorJRL::LinearConstraintInequality_s::SimilarConstraints
std::vector< int > SimilarConstraints
Definition: pgtypes.hh:173
b
doublereal * b
Definition: qld.cpp:388
PatternGeneratorJRL::SupportFSM::m_NbOfStepsSSDS
unsigned int m_NbOfStepsSSDS
Definition: SupportFSM_backup.hh:55
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfCOGPolynomials
bool GetFromListOfCOGPolynomials(unsigned int j, Polynome *&aPoly) const
Get the polynomial at interval j for the CoG Remark: The call to this function assume that the method...
Definition: AnalyticalZMPCOGTrajectory.cpp:362
iflag
static integer iflag
Definition: qld.cpp:658
CjrlDynamicRobot::currentConfiguration
virtual bool currentConfiguration(const vectorN &inConfig)=0
Multitype::r
real r
Definition: qld.cpp:242
PatternGeneratorJRL::RelativeFootPosition_s::sy
double sy
Definition: pgtypes.hh:102
Vardesc::dims
Long * dims
Definition: qld.cpp:255
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP
Definition: ZMPPreviewControlWithMultiBodyZMP.hh:75
icilist
Definition: qld.cpp:172
PatternGeneratorJRL::SupportFeet_s::y
double y
Definition: pgtypes.hh:192
PatternGeneratorJRL::RigidBody::SamplingPeriodSim
void SamplingPeriodSim(double T)
Definition: rigid-body.hh:133
Optimization::Solver::PLDPSolver::PLDPSolver
PLDPSolver(unsigned int CardU, double *iPu, double *Px, double *Pu, double *iLQ)
Constructor.
Definition: PLDPSolver.cpp:58
ipp
static integer ipp
Definition: qld.cpp:677
PatternGeneratorJRL::ZMPPosition_s
Structure to store each of the ZMP value, with a given direction at a certain time.
Definition: pgtypes.hh:120
d__3
doublereal d__3
Definition: qld.cpp:646
iwar
integer * iwar
Definition: qld.cpp:391
L_fp
logical(* L_fp)()
Definition: qld.cpp:297
PatternGeneratorJRL::RelativeFeetInequalities
Generate a stack of inequalities relative to feet centers for the whole preview window.
Definition: relative-feet-inequalities.hh:51
PatternGeneratorJRL::rigid_body_state_s::Y
boost_ublas::vector< double > Y
Definition: rigid-body.hh:43
Optimization::Solver::PLDPSolverHerdt::AllocateMemoryForSolver
void AllocateMemoryForSolver(unsigned int NumberSteps)
Definition: PLDPHerdt.cpp:111
inlist::inunflen
ftnlen inunflen
Definition: qld.cpp:230
PatternGeneratorJRL::ComputeConvexHull
Definition: ConvexHull.hh:47
PatternGeneratorJRL::LinearConstraintInequality_s::MAL_VECTOR
MAL_VECTOR(Center, double)
inlist::infilen
ftnlen infilen
Definition: qld.cpp:212
in
static integer in
Definition: qld.cpp:409
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMP
bool ComputeZMP(double t, double &r)
Definition: AnalyticalZMPCOGTrajectory.cpp:198
PatternGeneratorJRL::FootAbsolutePosition_t::dtheta
double dtheta
Definition: pgtypes.hh:145
LinearizedInvertedPendulum2D.hh
PatternGeneratorJRL::Polynome6::~Polynome6
~Polynome6()
Destructor.
Definition: PolynomeFoot.cpp:285
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::GetDifferenceBetweenComAndWaist
void GetDifferenceBetweenComAndWaist(double lComAndWaist[3])
PatternGeneratorJRL::PreviewControl::IsCoherent
bool IsCoherent()
Indicates if the weights are coherent with the parameters.
Definition: PreviewControl.cpp:137
mnn
int * mnn
Definition: qld.cpp:387
vfact
static doublereal vfact
Definition: qld.cpp:661
Vardesc
Definition: qld.cpp:252
PatternGeneratorJRL::FootHalfSize::updateHalfHeightDS
void updateHalfHeightDS(double DSFeetDistance)
Definition: FootHalfSize.cpp:71
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory
Definition: AnalyticalZMPCOGTrajectory.hh:45
iact
integer * iact
Definition: qld.cpp:637
PatternGeneratorJRL::RigidBodySystem::LeftFoot
void LeftFoot(const RigidBody &LeftFoot)
Definition: rigid-body-system.hh:115
CjrlDynamicRobot::setProperty
virtual bool setProperty(std::string &, const std::string &)
MAL_MATRIX_DIM
#define MAL_MATRIX_DIM(name, type, nb_rows, nb_cols)
PatternGeneratorJRL::FootHalfSize::setHalfSizeInit
void setHalfSizeInit(double lHalfWidth, double lHalfHeight, double DSFeetDistance)
Definition: FootHalfSize.cpp:51
D_fp
doublereal(* D_fp)()
Definition: qld.cpp:294
xmag
static doublereal xmag
Definition: qld.cpp:653
PatternGeneratorJRL::COMState_s::yaw
double yaw[3]
Definition: pgtypes.hh:81
PatternGeneratorJRL::Polynome4::Polynome4
Polynome4(double FT, double MP)
Constructor: FT: Final time MP: Middle position.
Definition: PolynomeFoot.cpp:95
a
doublereal * a
Definition: qld.cpp:388
one
static doublereal one
Definition: qld.cpp:674
Multitype::d
doublereal d
Definition: qld.cpp:243
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::operator<<
friend std::ostream & operator<<(std::ostream &os, const AnalyticalZMPCOGTrajectory &obj)
Definition: AnalyticalZMPCOGTrajectory.cpp:509
i__2
i__2
Definition: qld.cpp:939
SupportFSM.hh
PatternGeneratorJRL::RigidBody::interpolate
int interpolate(std::deque< COMState > &COMStates, std::deque< ZMPPosition > &ZMPRefPositions, int CurrentPosition, double CX, double CY)
Interpolate.
PatternGeneratorJRL::StepOverPolynomeFootZtoX::StepOverPolynomeFootZtoX
StepOverPolynomeFootZtoX()
Definition: StepOverPolynome.cpp:100
PatternGeneratorJRL::StepOverPolynomeFootXtoTime
Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX.
Definition: StepOverPolynome.hh:87
PatternGeneratorJRL::IntermedQPMat::objective_variant_s::type
objective_e type
Minimization objective type.
Definition: intermediate-qp-matrices.hh:92
PatternGeneratorJRL::IntermedQPMat::state_variant_s
Definition: intermediate-qp-matrices.hh:51
inlist::infmt
char * infmt
Definition: qld.cpp:225
sum
static doublereal sum
Definition: qld.cpp:678
PatternGeneratorJRL::ZMPPosition_s::time
double time
Definition: pgtypes.hh:124
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMSpeed
bool ComputeCOMSpeed(double t, double &r)
Definition: AnalyticalZMPCOGTrajectory.cpp:134
PatternGeneratorJRL::SupportFSM::StepPeriod
double StepPeriod() const
Definition: SupportFSM.hh:71
PatternGeneratorJRL::RelativeFootPosition_s::DStime
double DStime
Definition: pgtypes.hh:104
mmax
int * mmax
Definition: qld.cpp:387
CjrlHumanoidDynamicRobot
PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters
void SetParameters(MAL_VECTOR(Zpos, double), std::vector< double > Xpos)
Definition: StepOverPolynome.cpp:105
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupFirstPhase
int SetupFirstPhase(deque< ZMPPosition > &ZMPRefPositions, deque< COMState > &COMStates, deque< FootAbsolutePosition > &LeftFootPositions, deque< FootAbsolutePosition > &RightFootPositions)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:531
PatternGeneratorJRL::SupportFSM::DSPeriod
double DSPeriod() const
Definition: SupportFSM.hh:76
L440
goto L440
Definition: qld.cpp:1234
PatternGeneratorJRL::RigidBody::Mass
const double & Mass() const
Definition: rigid-body.hh:146
ql0001_
int ql0001_(int *m, int *me, int *mmax, int *n, int *nmax, int *mnn, double *c, double *d, double *a, double *b, double *xl, double *xu, double *x, double *u, int *iout, int *ifail, int *iprint, double *war, int *lwar, int *iwar, int *liwar, double *eps1)
c_offset
c_offset
Definition: qld.cpp:432
ConvexHull.hh
PatternGeneratorJRL::FootHalfSize::~FootHalfSize
~FootHalfSize()
Definition: FootHalfSize.cpp:47
MAL_MATRIX_FILL
#define MAL_MATRIX_FILL(matrix, value)
PatternGeneratorJRL::SupportFSM::update_vel_reference
void update_vel_reference(reference_t &Ref, const support_state_t &CurrentSupport)
Update the velocity reference after a pure rotation.
Definition: SupportFSM.cpp:58
max
#define max(a, b)
Definition: qld.cpp:270
PatternGeneratorJRL::StepOverPolynomeHip4::~StepOverPolynomeHip4
~StepOverPolynomeHip4()
Definition: StepOverPolynome.cpp:257
PatternGeneratorJRL::PreviewControl::print
void print()
Overloading of << operator.
Definition: PreviewControl.cpp:487
inlist::inunit
ftnint inunit
Definition: qld.cpp:210
kk
static integer kk
Definition: qld.cpp:670
PatternGeneratorJRL::StepOverSpline::MAL_MATRIX
MAL_MATRIX(Coefficients, double)
K_fp
shortlogical(* K_fp)()
Definition: qld.cpp:298
PatternGeneratorJRL::RigidBodySystem
Definition: rigid-body-system.hh:37
PatternGeneratorJRL::CH_Point::row
double row
Definition: ConvexHull.hh:41
PatternGeneratorJRL::Polynome5
Polynome used for X,Y and Theta trajectories.
Definition: PolynomeFoot.hh:126
PatternGeneratorJRL::ZMPPosition_s::py
double py
Definition: pgtypes.hh:122
cmache_
t_cmache_ cmache_
Definition: qld.cpp:339
C_f
VOID C_f
Definition: qld.cpp:303
inlist
Definition: qld.cpp:208
PatternGeneratorJRL::LinearizedInvertedPendulum2D::LinearizedInvertedPendulum2D
LinearizedInvertedPendulum2D()
Definition: LinearizedInvertedPendulum2D.cpp:40
PatternGeneratorJRL::SupportFeet_s
Definition: pgtypes.hh:190
PatternGeneratorJRL::IntermedQPMat::objective_variant_t
objective_variant_s objective_variant_t
Definition: intermediate-qp-matrices.hh:97
inlist::inseq
char * inseq
Definition: qld.cpp:221
PatternGeneratorJRL::rigid_body_state_s::X
boost_ublas::vector< double > X
Definition: rigid-body.hh:42
nflag
static integer nflag
Definition: qld.cpp:660
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::getComAndFootRealization
ComAndFootRealization * getComAndFootRealization()
Definition: ZMPPreviewControlWithMultiBodyZMP.hh:457
PatternGeneratorJRL::SupportFSM::m_DSDuration
double m_DSDuration
Numerical precision *‍/ double m_eps;.
Definition: SupportFSM_backup.hh:52
PatternGeneratorJRL::LinearizedInvertedPendulum2D::GetComHeight
const double & GetComHeight() const
Definition: LinearizedInvertedPendulum2D.cpp:63
PatternGeneratorJRL::StepOverSpline::number
unsigned int number
Definition: StepOverPolynome.hh:146
dlamch_
double dlamch_(char *)
g_offset
g_offset
Definition: qld.cpp:724
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetStartingTimeIntervalsAndHeightVariation
void SetStartingTimeIntervalsAndHeightVariation(std::vector< double > &lDeltaTj, std::vector< double > &lomegaj)
Set the starting point and the height variation.
Definition: AnalyticalZMPCOGTrajectory.cpp:293
two
static doublereal two
Definition: qld.cpp:680
FALSE_
#define FALSE_
Definition: qld.cpp:142
PatternGeneratorJRL::COMPosition_s::z
double z[3]
Definition: pgtypes.hh:55
PatternGeneratorJRL::IntermedQPMat::state_variant_s::Trunk
trunk_t Trunk
TrunkState.
Definition: intermediate-qp-matrices.hh:62
CjrlDynamicRobot::currentAcceleration
virtual bool currentAcceleration(const vectorN &inAcceleration)=0
PatternGeneratorJRL::LinearizedInvertedPendulum2D::~LinearizedInvertedPendulum2D
~LinearizedInvertedPendulum2D()
Definition: LinearizedInvertedPendulum2D.cpp:59
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime
bool GetIntervalIndexFromTime(double t, unsigned int &j)
Get the index of the interval according to the time.
Definition: AnalyticalZMPCOGTrajectory.cpp:472
PatternGeneratorJRL::Polynome::~Polynome
~Polynome()
Definition: Polynome.cpp:39
inlist::inrecl
ftnint * inrecl
Definition: qld.cpp:231
PatternGeneratorJRL::StepOverPolynomeFoot::~StepOverPolynomeFoot
~StepOverPolynomeFoot()
Definition: StepOverPolynome.cpp:95
t_cmache_
Definition: qld.cpp:336
PatternGeneratorJRL::CH_Point
Definition: ConvexHull.hh:39
PatternGeneratorJRL::LinearizedInvertedPendulum2D::GetState
void GetState(MAL_VECTOR_TYPE(double) &lxk)
Definition: LinearizedInvertedPendulum2D.cpp:108
MAL_MATRIX_RESIZE
#define MAL_MATRIX_RESIZE(name, nb_rows, nb_cols)
PatternGeneratorJRL::IntermedQPMat::State
state_variant_t & State()
Definition: intermediate-qp-matrices.hh:114
PatternGeneratorJRL::IntermedQPMat::state_variant_t
state_variant_s state_variant_t
Definition: intermediate-qp-matrices.hh:81
cilist::cifmt
char * cifmt
Definition: qld.cpp:167
grad
doublereal * grad
Definition: qld.cpp:636
iw
static integer iw
Definition: qld.cpp:670
PatternGeneratorJRL::Polynome::ComputeSecDerivative
double ComputeSecDerivative(double t)
Definition: Polynome.cpp:66
MAL_S4x4_MATRIX_TYPE
MAL_S4x4_MATRIX_TYPE(double) ZMPPreviewControlWithMultiBodyZMP
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:783
PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull
void DoComputeConvexHull(std::vector< CH_Point > aVecOfPoints, std::vector< CH_Point > &TheConvexHull)
Definition: ConvexHull.cpp:87
MAL_RET_VECTOR_DATABLOCK
#define MAL_RET_VECTOR_DATABLOCK(name)
Optimization::Solver::PLDPSolverHerdt::BackwardSubstitution
int BackwardSubstitution()
Compute v2 q (14b) in Dimitrov 2009. Second phase a Now solving LL^t v2 = v1 <-> L y = v1 with L^t v2...
Definition: PLDPHerdt.cpp:409
doublereal
double doublereal
Definition: OptimalControllerSolver.cpp:41
PatternGeneratorJRL::FootHalfSize::getHalfHeightDS
double getHalfHeightDS() const
Definition: FootHalfSize.cpp:96
cllist::cerr
flag cerr
Definition: qld.cpp:196
cilist::cierr
flag cierr
Definition: qld.cpp:164
Multitype::i
integer i
Definition: qld.cpp:241
MAL_RET_MATRIX_DATABLOCK
#define MAL_RET_MATRIX_DATABLOCK(matrix)
cvmax
static doublereal cvmax
Definition: qld.cpp:663
dgges_
int dgges_(char *, char *, char *, L_fp, integer *, doublereal *, integer *, doublereal *, integer *, integer *, doublereal *, doublereal *, doublereal *, doublereal *, integer *, doublereal *, integer *, doublereal *, integer *, logical *, integer *)
PatternGeneratorJRL::FootConstraintsAsLinearSystem::CallMethod
virtual void CallMethod(std::string &Method, std::istringstream &Args)
Definition: FootConstraintsAsLinearSystem.cpp:541
address
char * address
Definition: qld.cpp:132
L550
goto L550
Definition: qld.cpp:1454
PatternGeneratorJRL::SupportFeet_s::SupportFoot
int SupportFoot
Definition: pgtypes.hh:193
PatternGeneratorJRL::HRP2CIO_GlobalP0
CH_Point HRP2CIO_GlobalP0
Definition: ConvexHull.cpp:37
gb
static doublereal gb
Definition: qld.cpp:667
kfinc
static integer kfinc
Definition: qld.cpp:660
icilist::icirnum
ftnint icirnum
Definition: qld.cpp:178
PatternGeneratorJRL::OptimalControllerSolver::m_Q
double m_Q
Definition: OptimalControllerSolver.hh:198
PatternGeneratorJRL::RigidBodySystem::SamplingPeriodSim
void SamplingPeriodSim(double T)
Definition: rigid-body-system.hh:127
PatternGeneratorJRL::LinearConstraintInequality_s::StartingTime
double StartingTime
Definition: pgtypes.hh:174
MAL_INVERSE
#define MAL_INVERSE(name, inv_matrix, type)
PatternGeneratorJRL::StepOverSpline
spline function calculation class to calculate cubic splines
Definition: StepOverPolynome.hh:128
PatternGeneratorJRL::IntermedQPMat::Trunk
void Trunk(const trunk_t &Trunk)
Definition: intermediate-qp-matrices.hh:130
iprint
integer * iprint
Definition: qld.cpp:389
Optimization::Solver::PLDPSolver
Definition: PLDPSolver.hh:44
ql0001_
int ql0001_(m, me, mmax, n, nmax, mnn, c, d, a, b, xl, xu, x, u, iout, ifail, iprint, war, lwar, iwar, liwar, eps1) integer *m
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne
void TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne(unsigned int IntervalIndex, double &lCOMZ, double &lZMPZ)
Transfert the coefficients from the COG trajectory to the ZMP.
Definition: AnalyticalZMPCOGTrajectory.cpp:386
PatternGeneratorJRL::RigidBodySystem::multiBody
bool multiBody() const
Definition: rigid-body-system.hh:150
MAL_S3_VECTOR_TYPE
#define MAL_S3_VECTOR_TYPE(type)
PatternGeneratorJRL::SupportFSM::SamplingPeriod
void SamplingPeriod(const double T)
Definition: SupportFSM.hh:93
doublereal
double doublereal
Definition: qld.cpp:135
PatternGeneratorJRL::LinearConstraintInequality_s::EndingTime
double EndingTime
Definition: pgtypes.hh:174
Vardesc::name
char * name
Definition: qld.cpp:253
PatternGeneratorJRL::RelativeFootPosition_s::DeviationHipHeight
double DeviationHipHeight
Definition: pgtypes.hh:107
integer
int integer
Definition: qld.cpp:131
PatternGeneratorJRL::linear_dynamics_s
Definition: rigid-body.hh:63
complex
Definition: qld.cpp:136
PatternGeneratorJRL::IntermedQPMat::state_variant_s::CoM
com_t CoM
State of the Center of Mass.
Definition: intermediate-qp-matrices.hh:59
PatternGeneratorJRL::COMPosition_s
Structure to store the COM position computed by the preview control.
Definition: pgtypes.hh:52
PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_s::MAL_MATRIX
MAL_MATRIX(D, double)
PatternGeneratorJRL::COMState_s::x
double x[3]
Definition: pgtypes.hh:80
inlist::innum
ftnint * innum
Definition: qld.cpp:215
PatternGeneratorJRL::IntermedQPMat::CoM
void CoM(const com_t &CoM)
Definition: intermediate-qp-matrices.hh:125
PatternGeneratorJRL::PreviewControl::GetHeightOfCoM
double GetHeightOfCoM() const
Definition: PreviewControl.cpp:97
ir
static integer ir
Definition: qld.cpp:670
PatternGeneratorJRL::IntermedQPMat::state_variant_s::SupportState
support_state_t SupportState
Current support state.
Definition: intermediate-qp-matrices.hh:79
PatternGeneratorJRL::StepOverPolynomeFootXtoTime::~StepOverPolynomeFootXtoTime
~StepOverPolynomeFootXtoTime()
Definition: StepOverPolynome.cpp:199
PatternGeneratorJRL::SupportFeet_s::StartTime
double StartTime
Definition: pgtypes.hh:192
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::EvaluateMultiBodyZMP
int EvaluateMultiBodyZMP(int StartingIteration)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:448
inw2
static integer inw2
Definition: qld.cpp:412
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_Sensitivity
double m_Sensitivity
Definition: AnalyticalZMPCOGTrajectory.hh:264
PatternGeneratorJRL::OptimalControllerSolver::m_R
double m_R
Definition: OptimalControllerSolver.hh:198
inlist::inex
ftnint * inex
Definition: qld.cpp:213
H_fp
VOID(* H_fp)()
Definition: qld.cpp:299
MAL_VECTOR_TYPE
#define MAL_VECTOR_TYPE(type)
C_fp
VOID(* C_fp)()
Definition: qld.cpp:295
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::FluctuationMaximal
double FluctuationMaximal()
Returns the maximal fluctuation for the first segment of this trajectory.
Definition: AnalyticalZMPCOGTrajectory.cpp:458
PatternGeneratorJRL::rigid_body_state_s::operator=
struct rigid_body_state_s & operator=(const rigid_body_state_s &RB)
Definition: rigid-body.cpp:152
alist
Definition: qld.cpp:202
icilist::icierr
flag icierr
Definition: qld.cpp:173
PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_s
Linear constraints with variable feet placement.
Definition: pgtypes.hh:180
E_f
doublereal E_f
Definition: qld.cpp:306
PatternGeneratorJRL::RelativeFeetInequalities::set_inequalities
void set_inequalities(convex_hull_t &ConvexHull, const support_state_t &Support, ineq_e type)
Adapt inequalities to the support foot and its orientation.
Definition: relative-feet-inequalities.cpp:238
PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_s::StepNumber
int StepNumber
Definition: pgtypes.hh:184
d__4
doublereal d__4
Definition: qld.cpp:646
sumb
static doublereal sumb
Definition: qld.cpp:653
Optimization::Solver::PLDPSolver::BackwardSubstitution
int BackwardSubstitution()
Compute v2 q (14b) in Dimitrov 2009. Second phase a Now solving LL^t v2 = v1 <-> L y = v1 with L^t v2...
Definition: PLDPSolver.cpp:367
PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vc_fY
boost_ublas::vector< double > Vc_fY
Definition: intermediate-qp-matrices.hh:75
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::AnalyticalZMPCOGTrajectory
AnalyticalZMPCOGTrajectory(int lNbOfIntervals=0)
Definition: AnalyticalZMPCOGTrajectory.cpp:38
MAL_VECTOR_FILL
#define MAL_VECTOR_FILL(name, value)
I_fp
integer(* I_fp)()
Definition: qld.cpp:292
Optimization::Solver::PLDPSolver::WriteCurrentZMPSolution
void WriteCurrentZMPSolution(string filename, double *XkYk)
Definition: PLDPSolver.cpp:1039
MAL_VECTOR_DIM
#define MAL_VECTOR_DIM(name, type, nb_rows)
iza
static integer iza
Definition: qld.cpp:675
L800
goto L800
Definition: qld.cpp:1245
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_RefTime
std::vector< double > m_RefTime
Definition: AnalyticalZMPCOGTrajectory.hh:246
PatternGeneratorJRL::OptimalControllerSolver::GeneralizedSchur
bool GeneralizedSchur(MAL_MATRIX(&A, double), MAL_MATRIX(&B, double), MAL_VECTOR(&alphar, double), MAL_VECTOR(&alphai, double), MAL_VECTOR(&beta, double), MAL_MATRIX(&L, double), MAL_MATRIX(&R, double))
Definition: OptimalControllerSolver.cpp:133
PatternGeneratorJRL::StepOverSpline::~StepOverSpline
~StepOverSpline()
Definition: StepOverPolynome.cpp:394
Optimization::Solver::PLDPSolverHerdt::ComputeInitialSolution
int ComputeInitialSolution(std::deque< PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t > &QueueOfLConstraintInequalitiesFreeFeet, std::deque< PatternGeneratorJRL::SupportFeet_t > &QueueOfSupportFeet, unsigned int NumberSteps, double *XkYk)
Definition: PLDPHerdt.cpp:295
PatternGeneratorJRL::COMPosition_s::roll
double roll
Definition: pgtypes.hh:58
xu
doublereal * xu
Definition: qld.cpp:388
L70
goto L70
Definition: qld.cpp:918
PatternGeneratorJRL::Polynome3::GetParametersWithInitPosInitSpeed
void GetParametersWithInitPosInitSpeed(double &FT, double &FP, double &InitPos, double &InitSpeed)
Definition: PolynomeFoot.cpp:81
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfZMPPolynomials
bool GetFromListOfZMPPolynomials(unsigned int j, Polynome *&aPoly) const
Definition: AnalyticalZMPCOGTrajectory.cpp:374
WALK_GEN_JRL_EXPORT
#define WALK_GEN_JRL_EXPORT
Definition: pgtypes.hh:41
PatternGeneratorJRL::SupportFeet_s::x
double x
Definition: pgtypes.hh:192
a_offset
a_offset
Definition: qld.cpp:428
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetNumberOfIntervals
void SetNumberOfIntervals(unsigned int lNbOfIntervals)
Set the number of Intervals for this trajectory.
Definition: AnalyticalZMPCOGTrajectory.cpp:71
ratio
static doublereal ratio
Definition: qld.cpp:663
inlist::inacclen
ftnlen inacclen
Definition: qld.cpp:220
operator<<
std::ostream & operator<<(std::ostream &o, const IntermedQPMat::objective_variant_s &r)
Definition: intermediate-qp-matrices.cpp:191
xl
doublereal * xl
Definition: qld.cpp:388
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::Setup
int Setup(deque< ZMPPosition > &ZMPRefPositions, deque< COMState > &COMStates, deque< FootAbsolutePosition > &LeftFootPositions, deque< FootAbsolutePosition > &RightFootPositions)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:491
PatternGeneratorJRL::FootAbsolutePosition_t::theta
double theta
Definition: pgtypes.hh:143
PatternGeneratorJRL::linear_dynamics_s::S
boost_ublas::matrix< double, boost_ublas::row_major > S
State matrix.
Definition: rigid-body.hh:75
icilist::iciend
flag iciend
Definition: qld.cpp:175
CjrlFoot::getSoleSize
virtual void getSoleSize(double &outLength, double &outWidth) const=0
Optimization::Solver::PLDPSolver::StoreCurrentZMPSolution
void StoreCurrentZMPSolution(double *XkYk)
Definition: PLDPSolver.cpp:1010
PatternGeneratorJRL::RigidBodySystem::Mass
double Mass() const
Definition: rigid-body-system.hh:140
Optimization::Solver::PLDPSolver::~PLDPSolver
~PLDPSolver()
Destructor.
Definition: PLDPSolver.cpp:159
ifinc
static integer ifinc
Definition: qld.cpp:660
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::~AnalyticalZMPCOGTrajectory
~AnalyticalZMPCOGTrajectory()
Definition: AnalyticalZMPCOGTrajectory.cpp:46
j
static integer j
Definition: qld.cpp:407
Optimization::Solver::PLDPSolverHerdt::PLDPSolverHerdt
PLDPSolverHerdt(unsigned int CardU, double *iPu, double *Px, double *Pu, double *iLQ)
Constructor.
Definition: PLDPHerdt.cpp:56
PatternGeneratorJRL::LinearizedInvertedPendulum2D
Definition: LinearizedInvertedPendulum2D.hh:44
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_W
std::vector< double > m_W
Definition: AnalyticalZMPCOGTrajectory.hh:236
PatternGeneratorJRL::Polynome
Class for computing trajectories.
Definition: Polynome.hh:43
xmagr
static doublereal xmagr
Definition: qld.cpp:663
ix
static integer ix
Definition: qld.cpp:670
PatternGeneratorJRL::RigidBodySystem::RigidBodySystem
RigidBodySystem(SimplePluginManager *SPM, CjrlHumanoidDynamicRobot *aHS, SupportFSM *FSM)
Definition: rigid-body-system.cpp:31
idiag
static integer idiag
Definition: qld.cpp:407
MAL_MATRIX_SET_IDENTITY
#define MAL_MATRIX_SET_IDENTITY(matrix)
PatternGeneratorJRL::RigidBodySystem::SupportTrajectory
std::deque< support_state_t > & SupportTrajectory()
Definition: rigid-body-system.hh:155
pgtypes.hh
onha
static doublereal onha
Definition: qld.cpp:653
PatternGeneratorJRL::Polynome::m_Coefficients
std::vector< double > m_Coefficients
Vector of coefficients.
Definition: Polynome.hh:82
PatternGeneratorJRL::Polynome::GetCoefficients
void GetCoefficients(std::vector< double > &lCoefficients) const
Definition: Polynome.cpp:77
PatternGeneratorJRL::Polynome6::SetParameters
void SetParameters(double FT, double MP)
Set the parameters.
Definition: PolynomeFoot.cpp:247
PatternGeneratorJRL::Polynome5::GetParametersWithInitPosInitSpeed
void GetParametersWithInitPosInitSpeed(double &FT, double &FP, double &InitPos, double &InitSpeed)
Definition: PolynomeFoot.cpp:215
Optimization::Solver::PLDPSolver::ForwardSubstitution
int ForwardSubstitution()
Forward substitution. First Phase EE^t v2 = v1 <-> LL^t v2 = v1 Now solving L y = v1.
Definition: PLDPSolver.cpp:342
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_V
std::vector< double > m_V
Definition: AnalyticalZMPCOGTrajectory.hh:232
ia
static integer ia
Definition: qld.cpp:668
PatternGeneratorJRL::RigidBodySystem::RightFoot
const RigidBody & RightFoot() const
Definition: rigid-body-system.hh:118
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_DeltaTj
std::vector< double > m_DeltaTj
Definition: AnalyticalZMPCOGTrajectory.hh:239
MAL_RET_A_by_B
#define MAL_RET_A_by_B(A, B)
inlist::inform
char * inform
Definition: qld.cpp:227
PatternGeneratorJRL::ReferenceAbsoluteVelocity_t::dYaw
double dYaw
Definition: pgtypes.hh:209
StepOverPolynome.hh
PatternGeneratorJRL::OptimalControllerSolver::MODE_WITH_INITIALPOS
static const unsigned int MODE_WITH_INITIALPOS
Definition: OptimalControllerSolver.hh:144
PatternGeneratorJRL::RigidBody::State
const rigid_body_state_t & State() const
Definition: rigid-body.hh:156
PatternGeneratorJRL::rigid_body_state_s::reset
void reset()
Definition: rigid-body.cpp:171
PatternGeneratorJRL::Polynome::print
void print() const
Definition: Polynome.cpp:88
sumy
static doublereal sumy
Definition: qld.cpp:655
inlist::inblank
char * inblank
Definition: qld.cpp:233
PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcX
boost_ublas::vector< double > VcX
Selection matrix multiplied with the current foot position.
Definition: intermediate-qp-matrices.hh:71
Namelist::vars
Vardesc ** vars
Definition: qld.cpp:262
olist::oerr
flag oerr
Definition: qld.cpp:183
PatternGeneratorJRL::IntermedQPMat::Objective
const objective_variant_t & Objective(objective_e type) const
Definition: intermediate-qp-matrices.cpp:54
icilist::icirlen
ftnint icirlen
Definition: qld.cpp:177
PatternGeneratorJRL::COMPosition_s::pitch
double pitch
Definition: pgtypes.hh:57
L170
goto L170
Definition: qld.cpp:891
PatternGeneratorJRL::StepOverClampedCubicSpline::SetParameters
void SetParameters(MAL_VECTOR(Points, double), MAL_VECTOR(TimePoints, double), MAL_VECTOR(DerivativeEndPoints, double))
Definition: StepOverPolynome.cpp:408
PatternGeneratorJRL::CH_Point::col
double col
Definition: ConvexHull.hh:41
sb02ox
logical sb02ox(double *_alphar, double *_alphai, double *_beta)
Definition: OptimalControllerSolver.cpp:55
PatternGeneratorJRL::COMState_s::z
double z[3]
Definition: pgtypes.hh:80
E_fp
doublereal(*)(* E_fp)()
Definition: qld.cpp:294
AnalyticalZMPCOGTrajectory.hh
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetPolynomialDegrees
void GetPolynomialDegrees(std::vector< unsigned int > &lPolynomialDegree) const
Get the degree of each polynomials for the CoG.
Definition: AnalyticalZMPCOGTrajectory.cpp:338
PatternGeneratorJRL::SupportFSM::DSPeriod
void DSPeriod(const double DSPeriod)
Definition: SupportFSM.hh:78
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_NbOfIntervals
int m_NbOfIntervals
Definition: AnalyticalZMPCOGTrajectory.hh:228
PLDPSolverHerdt.hh
PatternGeneratorJRL::SupportFSM::m_DSSSDuration
double m_DSSSDuration
Definition: SupportFSM_backup.hh:52
L860
goto L860
Definition: qld.cpp:1482
CjrlFoot
PatternGeneratorJRL::IntermedQPMat::State
const state_variant_t & State() const
Definition: intermediate-qp-matrices.hh:112
PatternGeneratorJRL::PatternGeneratorInterface::PatternGeneratorInterface
PatternGeneratorInterface(CjrlHumanoidDynamicRobot *)
Definition: patterngeneratorinterface.hh:63
inlist::inunf
char * inunf
Definition: qld.cpp:229
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetPolynomialDegrees
void SetPolynomialDegrees(std::vector< unsigned int > &lPolynomialDegree)
Set the degree of each polynomials for the CoG Remark: the size of the vector of degrees should match...
Definition: AnalyticalZMPCOGTrajectory.cpp:315
Optimization::Solver::PLDPSolver::ComputeInitialSolution
int ComputeInitialSolution(double *ZMPRef, double *XkYk, bool StartingSequence)
Definition: PLDPSolver.cpp:287
PatternGeneratorJRL::IntermedQPMat::state_variant_s::V
boost_ublas::matrix< double > V
Selection matrix for the previewed feet positions.
Definition: intermediate-qp-matrices.hh:65
ira
static integer ira
Definition: qld.cpp:673
L880
goto L880
Definition: qld.cpp:2025
PatternGeneratorJRL::linear_dynamics_t
linear_dynamics_s linear_dynamics_t
Definition: rigid-body.hh:86
id
static integer id
Definition: qld.cpp:668
Z_f
VOID Z_f
Definition: qld.cpp:305
PatternGeneratorJRL::FootAbsolutePosition_t::x
double x
Definition: pgtypes.hh:143
PatternGeneratorJRL::LinearizedInvertedPendulum2D::SetComHeight
void SetComHeight(const double &)
Definition: LinearizedInvertedPendulum2D.cpp:68
PatternGeneratorJRL::StepOverSpline::SetParameters
void SetParameters(MAL_VECTOR(Points, double))
Definition: StepOverPolynome.cpp:273
PatternGeneratorJRL
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
u
doublereal * u
Definition: qld.cpp:388
knext
static integer knext
Definition: qld.cpp:666
OptCholesky.hh
PatternGeneratorJRL::linear_dynamics_s::U
boost_ublas::matrix< double, boost_ublas::row_major > U
Control matrix.
Definition: rigid-body.hh:66
PatternGeneratorJRL::Polynome::m_Degree
int m_Degree
Degree of the polynome.
Definition: Polynome.hh:79
k1
static integer k1
Definition: qld.cpp:666
logical
long int logical
Definition: OptimalControllerSolver.cpp:40
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization
void CallToComAndFootRealization(COMState &acomp, FootAbsolutePosition &aLeftFAP, FootAbsolutePosition &aRightFAP, MAL_VECTOR_TYPE(double) &CurrentConfiguration, MAL_VECTOR_TYPE(double) &CurrentVelocity, MAL_VECTOR_TYPE(double) &CurrentAcceleration, int IterationNumber, int StageOfTheAlgorithm)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:110
PatternGeneratorJRL::RigidBodySystem::generate_trajectories
int generate_trajectories(double time, const solution_t &Result, const std::deque< support_state_t > &SupportStates_deq, const std::deque< double > &PreviewedSupportAngles_deq, std::deque< FootAbsolutePosition > &LeftFootTraj_deq, std::deque< FootAbsolutePosition > &RightFootTraj_deq)
Generate final trajectories.
Definition: rigid-body-system.cpp:869
MAL_S3_VECTOR
#define MAL_S3_VECTOR(name, type)
ii
static integer ii
Definition: qld.cpp:670
matrixabstractlayer.hh
PatternGeneratorJRL::SupportFSM::set_support_state
void set_support_state(double time, unsigned int pi, support_state_t &Support, const reference_t &Ref) const
Initialize the previewed state.
Definition: SupportFSM.cpp:94
parinc
static doublereal parinc
Definition: qld.cpp:672
MAL_MATRIX_NB_ROWS
#define MAL_MATRIX_NB_ROWS(name)
PatternGeneratorJRL::FootAbsolutePosition_t::domega2
double domega2
Definition: pgtypes.hh:145
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetAbsoluteTimeReference
void SetAbsoluteTimeReference(double anAbsoluteTimeReference)
Set Absolute time reference of this trajectory.
Definition: AnalyticalZMPCOGTrajectory.hh:215
PatternGeneratorJRL::PreviewControl::PreviewControl
PreviewControl(SimplePluginManager *lSPM, unsigned int defaultMode=OptimalControllerSolver::MODE_WITH_INITIALPOS, bool computeWeightsAutomatically=false)
Definition: PreviewControl.cpp:38
MAL_MATRIX_RET_DETERMINANT
#define MAL_MATRIX_RET_DETERMINANT(name, type)
L710
goto L710
Definition: qld.cpp:1420
PatternGeneratorJRL::RelativeFootPosition_s::SStime
double SStime
Definition: pgtypes.hh:103
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::GetStrategyForStageActivation
int GetStrategyForStageActivation()
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:777
ten
static doublereal ten
Definition: qld.cpp:410
PatternGeneratorJRL::patternGeneratorInterfaceFactory
WALK_GEN_JRL_EXPORT PatternGeneratorInterface * patternGeneratorInterfaceFactory(CjrlHumanoidDynamicRobot *aHDR)
PatternGeneratorJRL::IntermedQPMat::Reference
reference_t & Reference()
Definition: intermediate-qp-matrices.hh:135
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::UpdateTheZMPRefQueue
void UpdateTheZMPRefQueue(ZMPPosition NewZMPRefPos)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:753
MAL_VECTOR_SIZE
#define MAL_VECTOR_SIZE(name)
PatternGeneratorJRL::RigidBody::SamplingPeriodSim
const double & SamplingPeriodSim() const
Definition: rigid-body.hh:131
olist
Definition: qld.cpp:182
inlist::indir
char * indir
Definition: qld.cpp:223
PatternGeneratorJRL::FootAbsolutePosition_t
Structure to store the absolute foot position.
Definition: pgtypes.hh:140
PatternGeneratorJRL::StepOverSpline::print
void print()
Definition: StepOverPolynome.cpp:376
m
if m
Definition: qld.cpp:466
PatternGeneratorJRL::IntermedQPMat::SupportState
support_state_t & SupportState()
Definition: intermediate-qp-matrices.hh:142
integer
int integer
Definition: OptimalControllerSolver.cpp:43
PatternGeneratorJRL::SupportFSM::NbStepsSSDS
void NbStepsSSDS(const unsigned NbStepsSSDS)
Definition: SupportFSM.hh:88
inlist::innrec
ftnint * innrec
Definition: qld.cpp:232
CjrlHumanoidDynamicRobot::rightFoot
virtual void rightFoot(CjrlFoot *inRightFoot)=0
meq
int * meq
Definition: qld.cpp:634
CjrlDynamicRobot::computeForwardKinematics
virtual bool computeForwardKinematics()=0
dlapy2_
doublereal dlapy2_(doublereal *, doublereal *)
k
static integer k
Definition: qld.cpp:656
Optimization::Solver::PLDPSolverHerdt::PrecomputeiPuPx
int PrecomputeiPuPx(unsigned int NumberSteps)
Definition: PLDPHerdt.cpp:211
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetCoGHyperbolicCoefficients
void SetCoGHyperbolicCoefficients(std::vector< double > &lV, std::vector< double > &lW)
Set the coefficients for the sinuse and cosinues function.
Definition: AnalyticalZMPCOGTrajectory.cpp:284
iwd
static integer iwd
Definition: qld.cpp:675
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::FreePolynomes
void FreePolynomes()
Definition: AnalyticalZMPCOGTrajectory.cpp:51
Namelist::nvars
int nvars
Definition: qld.cpp:263
PatternGeneratorJRL::LinearizedInvertedPendulum2D::operator()
const com_t operator()() const
Accessor.
Definition: LinearizedInvertedPendulum2D.hh:145
n
int * n
Definition: qld.cpp:387
CjrlHumanoidDynamicRobot::zeroMomentumPoint
virtual const vector3d & zeroMomentumPoint() const=0
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMPSpeed
bool ComputeZMPSpeed(double t, double &r)
Definition: AnalyticalZMPCOGTrajectory.cpp:236
diag
static doublereal diag
Definition: qld.cpp:394
PatternGeneratorJRL::RigidBody::initialize
int initialize()
Initialize.
Definition: rigid-body.cpp:48
PatternGeneratorJRL::StepOverClampedCubicSpline::StepOverClampedCubicSpline
StepOverClampedCubicSpline()
Definition: StepOverPolynome.cpp:403
PatternGeneratorJRL::FootAbsolutePosition_t::dx
double dx
Definition: pgtypes.hh:145
PatternGeneratorJRL::operator<<
std::ostream & operator<<(std::ostream &os, const COMPosition_s &aCp)
Definition: pgtypes.hh:64
iterc
static integer iterc
Definition: qld.cpp:662
MAL_MATRIX_TYPE
#define MAL_MATRIX_TYPE(type)
CjrlDynamicRobot::getProperty
virtual bool getProperty(const std::string &, std::string &) const
printf
printf("info on inconsistent constraint\n")
MAL_MATRIX_NB_COLS
#define MAL_MATRIX_NB_COLS(name)
complex::r
real r
Definition: qld.cpp:136
L_fp
logical(* L_fp)(...)
Definition: OptimalControllerSolver.cpp:42
g
doublereal * g
Definition: qld.cpp:636
CjrlHumanoidDynamicRobot::leftFoot
virtual void leftFoot(CjrlFoot *inLeftFoot)=0
inlist::innamlen
ftnlen innamlen
Definition: qld.cpp:218
olist::ofnmlen
ftnlen ofnmlen
Definition: qld.cpp:186
PatternGeneratorJRL::RigidBody::Mass
void Mass(double Mass)
Definition: rigid-body.hh:148
PatternGeneratorJRL::ReferenceAbsoluteVelocity_t::y
double y
Definition: pgtypes.hh:209
PatternGeneratorJRL::IntermedQPMat::state_variant_s::V_f
boost_ublas::matrix< double > V_f
Selection matrix for relative feet positions.
Definition: intermediate-qp-matrices.hh:77
J_fp
shortint(* J_fp)()
Definition: qld.cpp:291
inlist::indirlen
ftnlen indirlen
Definition: qld.cpp:224
PatternGeneratorJRL::SupportFSM
Finite state machine to determine the support parameters.
Definition: SupportFSM.hh:38
cilist
Definition: qld.cpp:163
iwy
static integer iwy
Definition: qld.cpp:679
relative-feet-inequalities.hh
war
doublereal * war
Definition: qld.cpp:390
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetStartingPointAndHeightVariation
void GetStartingPointAndHeightVariation(std::vector< double > &lTj, std::vector< double > &lomegaj)
Get the starting point and the height variation.
Definition: AnalyticalZMPCOGTrajectory.cpp:355
PatternGeneratorJRL::RelativeFootPosition_s
Structure to store each foot position when the user is specifying a sequence of relative positions.
Definition: pgtypes.hh:100
PatternGeneratorJRL::linear_dynamics_s::Um1
boost_ublas::matrix< double > Um1
Inverse of control matrix.
Definition: rigid-body.hh:69
PatternGeneratorJRL::ZMPPosition_s::theta
double theta
Definition: pgtypes.hh:123
PatternGeneratorJRL::Polynome5::SetParametersWithInitPosInitSpeed
void SetParametersWithInitPosInitSpeed(double FT, double FP, double InitPos, double InitSpeed)
Definition: PolynomeFoot.cpp:197
PatternGeneratorJRL::FootAbsolutePosition_t::omega
double omega
Definition: pgtypes.hh:143
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl
int SecondStageOfControl(COMState &refandfinal)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:317
i__1
i__1
Definition: qld.cpp:470
inw1
static integer inw1
Definition: qld.cpp:412
PatternGeneratorJRL::rigid_body_state_s
State vectors.
Definition: rigid-body.hh:38
PatternGeneratorJRL::Polynome::Polynome
Polynome(int Degree)
Definition: Polynome.cpp:32
PatternGeneratorJRL::Polynome6
Polynome used for Z trajectory.
Definition: PolynomeFoot.hh:165
PatternGeneratorJRL::PatternGeneratorInterface
Definition: patterngeneratorinterface.hh:55
ifail
integer * ifail
Definition: qld.cpp:389
MAL_S4x4_MATRIX
#define MAL_S4x4_MATRIX(name, type)
abs
#define abs(x)
Definition: qld.cpp:267
iout
integer * iout
Definition: qld.cpp:389
iww
static integer iww
Definition: qld.cpp:679
PatternGeneratorJRL::Polynome4::GetParametersWithInitPosInitSpeed
void GetParametersWithInitPosInitSpeed(double &FT, double &MP, double &InitPos, double &InitSpeed)
Definition: PolynomeFoot.cpp:147
PatternGeneratorJRL::FootConstraintsAsLinearSystem
Definition: FootConstraintsAsLinearSystem.hh:55
PatternGeneratorJRL::RelativeFootPosition_s::sx
double sx
Definition: pgtypes.hh:102
PatternGeneratorJRL::RigidBodySystem::compute_dyn_cjerk
int compute_dyn_cjerk()
Initialize dynamics of the body center Suppose a piecewise constant jerk.
Definition: rigid-body-system.cpp:361
PatternGeneratorJRL::RigidBody::inject_trajectory
int inject_trajectory(unsigned int Axis, boost_ublas::vector< double > Trajectory)
Decouple degree of freedom by injected trajectory.
alist::aerr
flag aerr
Definition: qld.cpp:203
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::setComAndFootRealization
bool setComAndFootRealization(ComAndFootRealization *aCFR)
Definition: ZMPPreviewControlWithMultiBodyZMP.hh:455
olist::ounit
ftnint ounit
Definition: qld.cpp:184
inlist::inseqlen
ftnlen inseqlen
Definition: qld.cpp:222
is
static integer is
Definition: qld.cpp:670
Optimization::Solver::PLDPSolver::InitializeSolver
void InitializeSolver()
Definition: PLDPSolver.cpp:136
vsmall
doublereal * vsmall
Definition: qld.cpp:638
mflag
static integer mflag
Definition: qld.cpp:660
PatternGeneratorJRL::RigidBody::increment_state
rigid_body_state_t increment_state(double Control)
Increment the state.
PatternGeneratorJRL::SupportFSM::~SupportFSM
~SupportFSM()
Destructor.
Definition: SupportFSM.cpp:52
intermediate-qp-matrices.hh
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_ListOfCOGPolynomials
std::vector< Polynome * > m_ListOfCOGPolynomials
Definition: AnalyticalZMPCOGTrajectory.hh:252
Optimization::Solver::PLDPSolverHerdt::~PLDPSolverHerdt
~PLDPSolverHerdt()
Destructor.
Definition: PLDPHerdt.cpp:165
PatternGeneratorJRL::PreviewControl::SetSamplingPeriod
void SetSamplingPeriod(double lSamplingPeriod)
Setter for the sampling period.
Definition: PreviewControl.cpp:102
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM
bool ComputeCOM(double t, double &r)
Definition: AnalyticalZMPCOGTrajectory.cpp:91
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetPreviewControl
void SetPreviewControl(PreviewControl *aPC)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:102
Z_fp
VOID(* Z_fp)()
Definition: qld.cpp:296
Optimization::Solver::PLDPSolver::AllocateMemoryForSolver
void AllocateMemoryForSolver()
Definition: PLDPSolver.cpp:107
min
#define min(a, b)
Definition: qld.cpp:269
H_f
VOID H_f
Definition: qld.cpp:304
PatternGeneratorJRL::IntermedQPMat::SupportState
void SupportState(const support_state_t &SupportState)
Definition: intermediate-qp-matrices.hh:144
maxit
static integer maxit
Definition: qld.cpp:407
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetAbsoluteTimeReference
double GetAbsoluteTimeReference() const
Absolute Time reference of this trajectory.
Definition: AnalyticalZMPCOGTrajectory.hh:211
PatternGeneratorJRL::rigid_body_state_s::rigid_body_state_s
rigid_body_state_s()
Definition: rigid-body.cpp:143
PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vc_fX
boost_ublas::vector< double > Vc_fX
Selection matrix for the current foot position.
Definition: intermediate-qp-matrices.hh:75
PatternGeneratorJRL::StepOverPolynomeFootZtoX::~StepOverPolynomeFootZtoX
~StepOverPolynomeFootZtoX()
Definition: StepOverPolynome.cpp:147
nmax
int * nmax
Definition: qld.cpp:387
vector3d
V3D vector3d
PatternGeneratorJRL::RigidBodySystem::CoMHeight
double CoMHeight() const
Definition: rigid-body-system.hh:145
PatternGeneratorJRL::linear_dynamics_s::clear
void clear()
Definition: rigid-body.hh:79
PatternGeneratorJRL::Polynome4::SetParametersWithInitPosInitSpeed
void SetParametersWithInitPosInitSpeed(double FT, double MP, double InitPos, double InitSpeed)
Definition: PolynomeFoot.cpp:122
Optimization::Solver::PLDPSolver::PrecomputeiPuPx
int PrecomputeiPuPx()
Definition: PLDPSolver.cpp:205
PatternGeneratorJRL::Polynome5::~Polynome5
~Polynome5()
Destructor.
Definition: PolynomeFoot.cpp:171
doublecomplex::r
doublereal r
Definition: qld.cpp:137
PatternGeneratorJRL::PreviewControl::CallMethod
virtual void CallMethod(std::string &Method, std::istringstream &astrm)
Overloading method of SimplePlugin.
Definition: PreviewControl.cpp:504
iwwn
static integer iwwn
Definition: qld.cpp:654
olist::oacc
char * oacc
Definition: qld.cpp:188
PatternGeneratorJRL::StepOverSpline::GetValueSpline
double GetValueSpline(MAL_VECTOR(TimePoints, double), double CurrentLocalTime)
Definition: StepOverPolynome.cpp:325
alist::aunit
ftnint aunit
Definition: qld.cpp:204
PatternGeneratorJRL::FootAbsolutePosition_t::domega
double domega
Definition: pgtypes.hh:145
PatternGeneratorJRL::PreviewControl
Class to implement the preview control.
Definition: PreviewControl.hh:53
PatternGeneratorJRL::ComputeConvexHull::~ComputeConvexHull
~ComputeConvexHull()
Definition: ConvexHull.cpp:82
PatternGeneratorJRL::StepOverClampedCubicSpline::print
void print()
Definition: StepOverPolynome.cpp:526
ip
static integer ip
Definition: qld.cpp:670
PatternGeneratorJRL::Polynome4
Polynome used for Z trajectory.
Definition: PolynomeFoot.hh:86
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::ZMPPreviewControlWithMultiBodyZMP
ZMPPreviewControlWithMultiBodyZMP(SimplePluginManager *lSPM)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:46
PatternGeneratorJRL::FootAbsolutePosition_t::time
double time
Definition: pgtypes.hh:149
PatternGeneratorJRL::LinearizedInvertedPendulum2D::setState
void setState(MAL_VECTOR_TYPE(double) lxk)
Definition: LinearizedInvertedPendulum2D.cpp:117
x
doublereal * x
Definition: qld.cpp:388
PatternGeneratorJRL::Polynome4::SetParameters
void SetParameters(double FT, double MP)
Set the parameters.
Definition: PolynomeFoot.cpp:100
Optimization::Solver::PLDPSolverHerdt::ComputeAlpha
double ComputeAlpha(vector< unsigned int > &NewActivatedConstraints, unsigned int NumberSteps)
Definition: PLDPHerdt.cpp:576
PatternGeneratorJRL::IntermedQPMat::Reference
void Reference(const reference_t &Ref)
Definition: intermediate-qp-matrices.hh:137
PatternGeneratorJRL::operator<<
ostream & operator<<(ostream &os, const AnalyticalZMPCOGTrajectory &obj)
Definition: AnalyticalZMPCOGTrajectory.cpp:509
FootHalfSize.hh
PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters
void SetParameters(MAL_VECTOR(Xbound, double), std::vector< double > timedistr)
Definition: StepOverPolynome.cpp:158
Optimization
Definition: PLDPSolver.hh:38
PatternGeneratorJRL::SupportFSM::setSupportState
void setSupportState(const double &Time, const int &pi, SupportState_t &Support, const ReferenceAbsoluteVelocity &RefVel)
Initialize the previewed state.
Namelist::name
char * name
Definition: qld.cpp:261
R_fp
real(* R_fp)()
Definition: qld.cpp:293
PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities
int BuildLinearConstraintInequalities(std::deque< FootAbsolutePosition > &LeftFootAbsolutePositions, std::deque< FootAbsolutePosition > &RightFootAbsolutePositions, std::deque< LinearConstraintInequality_t * > &QueueOfLConstraintInequalities, double ConstraintOnX, double ConstraintOnY)
Definition: FootConstraintsAsLinearSystem.cpp:258
PatternGeneratorJRL::StepOverClampedCubicSpline
Definition: StepOverPolynome.hh:152
PatternGeneratorJRL::FootAbsolutePosition_t::ddtheta
double ddtheta
Definition: pgtypes.hh:147
Optimization::Solver::PLDPSolverHerdt
Definition: PLDPSolverHerdt.hh:45
PatternGeneratorJRL::StepOverPolynomeFootXtoTime::StepOverPolynomeFootXtoTime
StepOverPolynomeFootXtoTime()
Definition: StepOverPolynome.cpp:153
PatternGeneratorJRL::OptimalControllerSolver::GetK
void GetK(MAL_MATRIX(&LK, double))
Definition: OptimalControllerSolver.cpp:365
ZMPPreviewControlWithMultiBodyZMP.hh
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::getHumanoidDynamicRobot
CjrlHumanoidDynamicRobot * getHumanoidDynamicRobot() const
Definition: ZMPPreviewControlWithMultiBodyZMP.hh:499
olist::ofnm
char * ofnm
Definition: qld.cpp:185
PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters
void SetParameters(MAL_VECTOR(boundCond, double), std::vector< double > timeDistr)
Definition: StepOverPolynome.cpp:45
PatternGeneratorJRL::RigidBodySystem::LeftFoot
RigidBody & LeftFoot()
Definition: rigid-body-system.hh:113
PatternGeneratorJRL::IntermedQPMat::dump_objective
void dump_objective(objective_e type, std::ostream &aos)
Definition: intermediate-qp-matrices.cpp:123
sb02ow
logical sb02ow(double *_alphar, double *, double *_beta)
Definition: OptimalControllerSolver.cpp:86
PatternGeneratorJRL::RigidBodySystem::RightFoot
RigidBody & RightFoot()
Definition: rigid-body-system.hh:120
MAL_S4x4_MATRIX_ACCESS_I_J
#define MAL_S4x4_MATRIX_ACCESS_I_J(name, i, j)
Multitype
Definition: qld.cpp:239
PatternGeneratorJRL::RigidBodySystem::initialize
void initialize()
Initialize.
Definition: rigid-body-system.cpp:55
PatternGeneratorJRL::SupportFSM::SamplingPeriod
double SamplingPeriod() const
Definition: SupportFSM.hh:91
PatternGeneratorJRL::ReferenceAbsoluteVelocity_t
Structure to store the absolute reference.
Definition: pgtypes.hh:206
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::Building3rdOrderPolynomial
void Building3rdOrderPolynomial(unsigned int anIntervalj, double pjTjm1, double pjTj)
Definition: AnalyticalZMPCOGTrajectory.cpp:425
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CreateExtraCOMBuffer
void CreateExtraCOMBuffer(deque< COMState > &ExtraCOMBuffer, deque< ZMPPosition > &ExtraZMPBuffer, deque< ZMPPosition > &ExtraZMPRefBuffer)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:665
PatternGeneratorJRL::IntermedQPMat::Reference
const reference_t & Reference() const
Definition: intermediate-qp-matrices.hh:133
PatternGeneratorJRL::FootAbsolutePosition_t::stepType
int stepType
Definition: pgtypes.hh:154
info
static integer info
Definition: qld.cpp:405
PatternGeneratorJRL::OptimalControllerSolver::MAL_MATRIX
MAL_MATRIX(m_A, double)
PatternGeneratorJRL::RelativeFeetInequalities::compute_linear_system
void compute_linear_system(convex_hull_t &ConvexHull, const support_state_t &PrwSupport) const
Compute the linear inequalities associated with the convex hull specified by a vector of points.
Definition: relative-feet-inequalities.cpp:265
PatternGeneratorJRL::DistanceCHRep
void DistanceCHRep(CH_Point &s1, CH_Point &s2, double &distance1, double &distance2)
Definition: ConvexHull.cpp:52
PatternGeneratorJRL::RigidBody
Definition: rigid-body.hh:90
Multitype::h
shortint h
Definition: qld.cpp:240
doublecomplex
Definition: qld.cpp:137
PatternGeneratorJRL::COMState_s
Structure to store the COM state computed by the preview control.
Definition: pgtypes.hh:78
real
float real
Definition: qld.cpp:134
PatternGeneratorJRL::RigidBody::NbSamplingsPreviewed
void NbSamplingsPreviewed(unsigned N)
Definition: rigid-body.hh:143
PatternGeneratorJRL::RelativeFeetInequalities::~RelativeFeetInequalities
~RelativeFeetInequalities()
Definition: relative-feet-inequalities.cpp:84
PatternGeneratorJRL::StepOverPolynomeFootZtoX
Polynome used for Z trajectory during stepover.
Definition: StepOverPolynome.hh:67
PatternGeneratorJRL::IntermedQPMat
Custom (value based) container providing intermediate elements for the construction of a QP.
Definition: intermediate-qp-matrices.hh:42
PatternGeneratorJRL::SupportFSM::DSSSPeriod
double DSSSPeriod() const
Definition: SupportFSM.hh:81
PatternGeneratorJRL::RigidBodySystem::SamplingPeriodAct
void SamplingPeriodAct(double Ta)
Definition: rigid-body-system.hh:132
PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D
int OneIterationOfPreview1D(MAL_MATRIX(&x, double), double &sxzmp, deque< double > &ZMPPositions, unsigned int lindex, double &zmpx2, bool Simulation)
One iteration of the preview control along one axis (using queues)
PatternGeneratorJRL::OptimalControllerSolver::m_Nl
int m_Nl
Definition: OptimalControllerSolver.hh:206
iwz
static integer iwz
Definition: qld.cpp:681
d
doublereal * d
Definition: qld.cpp:388
tempa
static doublereal tempa
Definition: qld.cpp:661
PatternGeneratorJRL::RigidBody::~RigidBody
~RigidBody()
Definition: rigid-body.cpp:42
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_ListOfZMPPolynomials
std::vector< Polynome * > m_ListOfZMPPolynomials
Definition: AnalyticalZMPCOGTrajectory.hh:255
iwr
static integer iwr
Definition: qld.cpp:677
PatternGeneratorJRL::RigidBodySystem::Mass
void Mass(double Mass)
Definition: rigid-body-system.hh:142
sumc
static doublereal sumc
Definition: qld.cpp:653
PatternGeneratorJRL::ReferenceAbsoluteVelocity_t::z
double z
Definition: pgtypes.hh:209
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::ZMPCOM_TRAJECTORY_FULL
static const int ZMPCOM_TRAJECTORY_FULL
Definition: ZMPPreviewControlWithMultiBodyZMP.hh:194
PatternGeneratorJRL::PreviewControl::SamplingPeriod
double SamplingPeriod() const
Getter for the sampling period.
Definition: PreviewControl.cpp:86
inlist::inname
char * inname
Definition: qld.cpp:217
shortlogical
short int shortlogical
Definition: qld.cpp:139
PatternGeneratorJRL::FootAbsolutePosition_t::ddy
double ddy
Definition: pgtypes.hh:147
PatternGeneratorJRL::FootHalfSize::setConstraints
void setConstraints(double OnX, double OnY, double DSFeetDistance)
Definition: FootHalfSize.cpp:76
CjrlDynamicRobot::positionCenterOfMass
virtual const vector3d & positionCenterOfMass() const=0
MAL_C_eq_A_by_B
#define MAL_C_eq_A_by_B(C, A, B)
cllist::csta
char * csta
Definition: qld.cpp:198
PatternGeneratorJRL::RigidBodySystem::SamplingPeriodSim
double SamplingPeriodSim() const
Definition: rigid-body-system.hh:125
d__2
doublereal d__2
Definition: qld.cpp:646
Optimization::Solver::PLDPSolver::ComputeProjectedDescentDirection
int ComputeProjectedDescentDirection()
Compute Projected descent direction.
Definition: PLDPSolver.cpp:404
lower
static logical lower
Definition: qld.cpp:665
PatternGeneratorJRL::FootConstraintsAsLinearSystem::~FootConstraintsAsLinearSystem
~FootConstraintsAsLinearSystem()
Definition: FootConstraintsAsLinearSystem.cpp:51
CjrlDynamicRobot::currentVelocity
virtual bool currentVelocity(const vectorN &inVelocity)=0
ql0002_
int ql0002_()
w
doublereal * w
Definition: qld.cpp:640
PatternGeneratorJRL::RigidBodySystem::DynamicsCoPJerk
linear_dynamics_t & DynamicsCoPJerk()
Definition: rigid-body-system.hh:103
inlist::innamed
ftnint * innamed
Definition: qld.cpp:216
shortint
short int shortint
Definition: qld.cpp:133
PatternGeneratorJRL::RigidBody::SamplingPeriodAct
void SamplingPeriodAct(double Ta)
Definition: rigid-body.hh:138
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::EvaluateStartingCoM
int EvaluateStartingCoM(MAL_MATRIX(&, double) BodyAngles, MAL_S3_VECTOR(&, double) aStartingCOMState, MAL_VECTOR(&, double) aWaistPose, FootAbsolutePosition &InitLeftFootPosition, FootAbsolutePosition &InitRightFootPosition)
cilist::ciend
flag ciend
Definition: qld.cpp:166
inlist::inblanklen
ftnlen inblanklen
Definition: qld.cpp:234
PatternGeneratorJRL::Polynome3::Polynome3
Polynome3(double FT, double FP)
Constructor: FT: Final time FP: Final position.
Definition: PolynomeFoot.cpp:36
PatternGeneratorJRL::Polynome6::Polynome6
Polynome6(double FT, double MP)
Constructor: FT: Final time MP: Middle position.
Definition: PolynomeFoot.cpp:242
Multitype::c
complex c
Definition: qld.cpp:244
PatternGeneratorJRL::IntermedQPMat::SupportState
const support_state_t & SupportState() const
Definition: intermediate-qp-matrices.hh:140
PatternGeneratorJRL::Polynome::Compute
double Compute(double t)
Definition: Polynome.cpp:44
PatternGeneratorJRL::StepOverClampedCubicSpline::GetValueSpline
double GetValueSpline(MAL_VECTOR(TimePoints, double), double CurrentLocalTime)
Definition: StepOverPolynome.cpp:475
olist::orl
ftnint orl
Definition: qld.cpp:190
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupIterativePhase
int SetupIterativePhase(deque< ZMPPosition > &ZMPRefPositions, deque< COMState > &COMStates, deque< FootAbsolutePosition > &LeftFootPositions, deque< FootAbsolutePosition > &RightFootPositions, MAL_VECTOR_TYPE(double) &CurrentConfiguration, MAL_VECTOR_TYPE(double) &CurrentVelocity, MAL_VECTOR_TYPE(double) &CurrentAcceleration, int localindex)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:611
g_dim1
g_dim1
Definition: qld.cpp:723
PolynomeFoot.hh
PatternGeneratorJRL::PreviewControl::ReadPrecomputedFile
void ReadPrecomputedFile(string aFileName)
Read the file of parameters aFileName and set the sampling period, the preview control time,...
Definition: PreviewControl.cpp:142
PatternGeneratorJRL::Polynome3::SetParametersWithInitPosInitSpeed
void SetParametersWithInitPosInitSpeed(double &FT, double &FP, double &InitPos, double &InitSpeed)
Definition: PolynomeFoot.cpp:59
PatternGeneratorJRL::SupportFSM::StepPeriod
void StepPeriod(const double StepPeriod)
Definition: SupportFSM.hh:73
olist::oblnk
char * oblnk
Definition: qld.cpp:191
PatternGeneratorJRL::SupportFeet_s::theta
double theta
Definition: pgtypes.hh:192
MAL_MATRIX
#define MAL_MATRIX(name, type)
PatternGeneratorJRL::RigidBodySystem::DynamicsCoPJerk
const linear_dynamics_t & DynamicsCoPJerk() const
Definition: rigid-body-system.hh:101
PatternGeneratorJRL::RigidBodySystem::SamplingPeriodAct
double SamplingPeriodAct() const
Definition: rigid-body-system.hh:130
Optimization::Solver::PLDPSolver::SolveProblem
int SolveProblem(double *CstPartOfTheCostFunction, unsigned int NbOfConstraints, double *LinearPartOfConstraints, double *CstPartOfConstraints, double *ZMPRef, double *XkYk, double *X, std::vector< int > &SimilarConstraint, unsigned int NumberOfRemovedConstraints, bool StartingSequence)
Solve the optimization problem.
Definition: PLDPSolver.cpp:654
PLDPSolver.hh
ftnlen
long ftnlen
Definition: qld.cpp:158
jfinc
static integer jfinc
Definition: qld.cpp:660
PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters
void SetParameters(MAL_VECTOR(boundCond, double), std::vector< double > timeDistr)
Definition: StepOverPolynome.cpp:212
PatternGeneratorJRL::ZMPPosition_s::px
double px
Definition: pgtypes.hh:122
PatternGeneratorJRL::LinearizedInvertedPendulum2D::OneIteration
com_t OneIteration(double CX, double CY)
Simulate one iteration of the LIPM.
Definition: LinearizedInvertedPendulum2D.cpp:230
PatternGeneratorJRL::OptimalControllerSolver
This class computes the gains for preview control for a given discrete system. The discrete system is...
Definition: OptimalControllerSolver.hh:139
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetStrategyForStageActivation
void SetStrategyForStageActivation(int anAlgo)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:758
PatternGeneratorJRL::Polynome3
Polynome used for X,Y and Theta trajectories.
Definition: PolynomeFoot.hh:48
L775
goto L775
Definition: qld.cpp:1599
invertMatrix
bool invertMatrix(const boost_ublas::matrix< T > &input, boost_ublas::matrix< T > &inverse)
Definition: rigid-body-system.cpp:268
PatternGeneratorJRL::COMPosition_s::x
double x[3]
Definition: pgtypes.hh:54
kdrop
static integer kdrop
Definition: qld.cpp:664
inlist::infile
char * infile
Definition: qld.cpp:211
PatternGeneratorJRL::LinearConstraintInequality_t
struct LinearConstraintInequality_s LinearConstraintInequality_t
Definition: pgtypes.hh:176
L740
goto L740
Definition: qld.cpp:1210
c_dim1
c_dim1
Definition: qld.cpp:431
PatternGeneratorJRL::RigidBodySystem::CoM
const RigidBody & CoM() const
Definition: rigid-body-system.hh:106
Namelist
Definition: qld.cpp:260
PatternGeneratorJRL::StepOverPolynomeHip4::StepOverPolynomeHip4
StepOverPolynomeHip4()
Definition: StepOverPolynome.cpp:207
PatternGeneratorJRL::ltCH_Point
Definition: ConvexHull.cpp:38
PatternGeneratorJRL::FootConstraintsAsLinearSystem::ComputeLinearSystem
int ComputeLinearSystem(std::vector< CH_Point > aVecOfPoints, MAL_MATRIX(&A, double), MAL_MATRIX(&B, double), MAL_VECTOR(&C, double))
Definition: FootConstraintsAsLinearSystem.cpp:97
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_omegaj
std::vector< double > m_omegaj
Definition: AnalyticalZMPCOGTrajectory.hh:243
PatternGeneratorJRL::StepOverClampedCubicSpline::MAL_MATRIX
MAL_MATRIX(Coefficients, double)
PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcshiftX
boost_ublas::vector< double > VcshiftX
Shifted selection matrix multiplied with the current feet position.
Definition: intermediate-qp-matrices.hh:73
PatternGeneratorJRL::IntermedQPMat::dump_state
void dump_state(std::ostream &aos)
Definition: intermediate-qp-matrices.cpp:145
lql
static logical lql
Definition: qld.cpp:411
PatternGeneratorJRL::LinearConstraintInequality_s::MAL_MATRIX
MAL_MATRIX(A, double)
PatternGeneratorJRL::COMState_s::roll
double roll[3]
Definition: pgtypes.hh:83
PatternGeneratorJRL::StepOverClampedCubicSpline::number
unsigned int number
Definition: StepOverPolynome.hh:171
MAL_RET_TRANSPOSE
#define MAL_RET_TRANSPOSE(matrix)
olist::ofm
char * ofm
Definition: qld.cpp:189
PatternGeneratorJRL::IntermedQPMat::state_variant_s::Ref
reference_t Ref
Objective independent QP elements.
Definition: intermediate-qp-matrices.hh:56
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl
int FirstStageOfControl(FootAbsolutePosition &LeftFootPosition, FootAbsolutePosition &RightFootPosition, COMState &afCOMState)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:378
PatternGeneratorJRL::RigidBodySystem::RightFoot
void RightFoot(const RigidBody &RightFoot)
Definition: rigid-body-system.hh:122
PatternGeneratorJRL::linear_dynamics_s::UT
boost_ublas::matrix< double > UT
Transpose of control matrix.
Definition: rigid-body.hh:72
L640
goto L640
Definition: qld.cpp:1532
PatternGeneratorJRL::IntermedQPMat::CoM
const com_t & CoM() const
Definition: intermediate-qp-matrices.hh:123
PatternGeneratorJRL::IntermedQPMat::state_variant_s::VT
boost_ublas::matrix< double > VT
Transpose of V.
Definition: intermediate-qp-matrices.hh:69
PatternGeneratorJRL::RigidBodySystem::update
int update(const std::deque< support_state_t > &SupportStates_deq, const std::deque< FootAbsolutePosition > &LeftFootTraj_deq, const std::deque< FootAbsolutePosition > &RightFootTraj_deq)
Update feet matrices.
Definition: rigid-body-system.cpp:228
PatternGeneratorJRL::Polynome3::SetParameters
void SetParameters(double FT, double FP)
Definition: PolynomeFoot.cpp:41
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetHyperbolicCoefficients
void GetHyperbolicCoefficients(std::vector< double > &lV, std::vector< double > &lW) const
Get the coefficients for the sinuse and cosinues function.
Definition: AnalyticalZMPCOGTrajectory.cpp:348
PatternGeneratorJRL::FootAbsolutePosition_t::ddz
double ddz
Definition: pgtypes.hh:147
PatternGeneratorJRL::FootAbsolutePosition_t::ddomega
double ddomega
Definition: pgtypes.hh:147
ftnint
long ftnint
Definition: qld.cpp:159
humanoid-dynamic-robot.hh
inlist::inerr
flag inerr
Definition: qld.cpp:209
PatternGeneratorJRL::LinearizedInvertedPendulum2D::InitializeSystem
int InitializeSystem()
Initialize the system.
Definition: LinearizedInvertedPendulum2D.cpp:123
PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities2
int BuildLinearConstraintInequalities2(std::deque< FootAbsolutePosition > &LeftFootAbsolutePositions, std::deque< FootAbsolutePosition > &RightFootAbsolutePositions, std::deque< LinearConstraintInequality_t * > &QueueOfLConstraintInequalities, double ConstraintOnX, double ConstraintOnY)
iu
static integer iu
Definition: qld.cpp:670
PatternGeneratorJRL::SupportFSM::NBStepsSSDS
unsigned NBStepsSSDS() const
Definition: SupportFSM.hh:86
PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcshiftY
boost_ublas::vector< double > VcshiftY
Definition: intermediate-qp-matrices.hh:73
PatternGeneratorJRL::LinearizedInvertedPendulum2D::SetRobotControlPeriod
void SetRobotControlPeriod(const double &)
Definition: LinearizedInvertedPendulum2D.cpp:94
logical
long int logical
Definition: qld.cpp:138
PatternGeneratorJRL::RigidBody::SamplingPeriodAct
const double & SamplingPeriodAct() const
Definition: rigid-body.hh:136
qpeps
static doublereal qpeps
Definition: qld.cpp:408
L549
goto L549
Definition: qld.cpp:1432
cllist::cunit
ftnint cunit
Definition: qld.cpp:197
PatternGeneratorJRL::LinearizedInvertedPendulum2D::GetRobotControlPeriod
const double & GetRobotControlPeriod()
Definition: LinearizedInvertedPendulum2D.cpp:89
itref
static integer itref
Definition: qld.cpp:662
suma
static doublereal suma
Definition: qld.cpp:653
PatternGeneratorJRL::COMState_s::y
double y[3]
Definition: pgtypes.hh:80
PatternGeneratorJRL::RigidBody::Dynamics
const linear_dynamics_t & Dynamics(dynamics_e) const
Definition: rigid-body.cpp:91
inlist::inacc
char * inacc
Definition: qld.cpp:219
Vardesc::addr
char * addr
Definition: qld.cpp:254
PatternGeneratorJRL::RigidBody::RigidBody
RigidBody()
Definition: rigid-body.cpp:30
PatternGeneratorJRL::Polynome3::~Polynome3
~Polynome3()
Destructor.
Definition: PolynomeFoot.cpp:92
MAL_VECTOR_RESIZE
#define MAL_VECTOR_RESIZE(name, nb_rows)
rigid-body.hh
fdiff
static doublereal fdiff
Definition: qld.cpp:657
S_fp
int(* S_fp)()
Definition: qld.cpp:300
TRUE_
#define TRUE_
Definition: qld.cpp:141
Long
long Long
Definition: qld.cpp:250
iz
static integer iz
Definition: qld.cpp:670
zero
static doublereal zero
Definition: qld.cpp:406
i
static integer i
Definition: qld.cpp:407
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallMethod
void CallMethod(std::string &Method, std::istringstream &astrm)
Overloading method of SimplePlugin.
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:882
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::setHumanoidDynamicRobot
bool setHumanoidDynamicRobot(CjrlHumanoidDynamicRobot *aHumanoidDynamicRobot)
Definition: ZMPPreviewControlWithMultiBodyZMP.hh:493
PatternGeneratorJRL::PreviewControl::~PreviewControl
~PreviewControl()
Definition: PreviewControl.cpp:81
PreviewControl.hh
PatternGeneratorJRL::RigidBodySystem::interpolate
int interpolate(solution_t Result, std::deque< ZMPPosition > &FinalZMPTraj_deq, std::deque< COMState > &FinalCOMTraj_deq, std::deque< FootAbsolutePosition > &FinalLeftFootTraj_deq, std::deque< FootAbsolutePosition > &FinalRightFootTraj_deq)
Interpolate.
parnew
static doublereal parnew
Definition: qld.cpp:672
PatternGeneratorJRL::RigidBodySystem::NbSamplingsPreviewed
void NbSamplingsPreviewed(unsigned N)
Definition: rigid-body-system.hh:137
PatternGeneratorJRL::RigidBody::Trajectory
std::deque< rigid_body_state_t > & Trajectory()
Definition: rigid-body.hh:151
ju
static integer ju
Definition: qld.cpp:670
PatternGeneratorJRL::RelativeFeetInequalities::CallMethod
virtual void CallMethod(std::string &Method, std::istringstream &Args)
Reimplement the interface of SimplePluginManager.
Definition: relative-feet-inequalities.cpp:323
PatternGeneratorJRL::Polynome::ComputeDerivative
double ComputeDerivative(double t)
Definition: Polynome.cpp:55
PatternGeneratorJRL::ReferenceAbsoluteVelocity
struct ReferenceAbsoluteVelocity_t ReferenceAbsoluteVelocity
Definition: pgtypes.hh:216
PatternGeneratorJRL::RigidBodySystem::~RigidBodySystem
~RigidBodySystem()
Definition: rigid-body-system.cpp:45
Optimization::Solver
Definition: PLDPSolver.hh:40
Optimization::Solver::PLDPSolverHerdt::SolveProblem
int SolveProblem(std::deque< PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t > &QueueOfLConstraintInequalitiesFreeFeet, std::deque< PatternGeneratorJRL::SupportFeet_t > &QueueOfSupportFeet, double *CstPartOfTheCostFunction, unsigned int NbOfConstraints, double *LinearPartOfConstraints, double *CstPartOfConstraints, double *XkYk, double *X, unsigned int NumberOfRemovedConstraints, unsigned int NbRemovedFootCstr, bool StartingSequence, unsigned int NumberSteps, bool CurrentStateChanged, double time)
Solve the optimization problem.
Definition: PLDPHerdt.cpp:693
Vardesc::type
int type
Definition: qld.cpp:256
olist::osta
char * osta
Definition: qld.cpp:187
PatternGeneratorJRL::ZMPPosition_s::stepType
int stepType
Definition: pgtypes.hh:125
PatternGeneratorJRL::FootAbsolutePosition_t::dz
double dz
Definition: pgtypes.hh:145
iwx
static integer iwx
Definition: qld.cpp:679
PatternGeneratorJRL::linear_dynamics_s::Type
dynamics_e Type
Definition: rigid-body.hh:77
PatternGeneratorJRL::RelativeFeetInequalities::set_vertices
void set_vertices(convex_hull_t &ConvexHull, const support_state_t &SupportState, ineq_e type)
Adapt vertices to the support foot and its orientation.
Definition: relative-feet-inequalities.cpp:186
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl
int OneGlobalStepOfControl(FootAbsolutePosition &LeftFootPosition, FootAbsolutePosition &RightFootPosition, ZMPPosition &NewZMPRefPos, COMState &finalCOMState, MAL_VECTOR_TYPE(double) &CurrentConfiguration, MAL_VECTOR_TYPE(double) &CurrentVelocity, MAL_VECTOR_TYPE(double) &CurrentAcceleration)
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:196
PatternGeneratorJRL::OptimalControllerSolver::OptimalControllerSolver
OptimalControllerSolver(MAL_MATRIX(&A, double), MAL_MATRIX(&b, double), MAL_MATRIX(&c, double), double Q, double R, unsigned int Nl)
Definition: OptimalControllerSolver.cpp:98
PatternGeneratorJRL::PreviewControl::OneIterationOfPreview
int OneIterationOfPreview(MAL_MATRIX(&x, double), MAL_MATRIX(&y, double), double &sxzmp, double &syzmp, deque< PatternGeneratorJRL::ZMPPosition > &ZMPPositions, unsigned int lindex, double &zmpx2, double &zmpy2, bool Simulation)
One iteration of the preview control.
Definition: PreviewControl.cpp:324
L770
goto L770
Definition: qld.cpp:1828
PatternGeneratorJRL::RigidBodySystem::NbSamplingsPreviewed
unsigned NbSamplingsPreviewed() const
Definition: rigid-body-system.hh:135
cllist
Definition: qld.cpp:195
PatternGeneratorJRL::OptimalControllerSolver::GetF
void GetF(MAL_MATRIX(&LF, double))
Definition: OptimalControllerSolver.cpp:360
PatternGeneratorJRL::LinearConstraintInequality_s
Definition: pgtypes.hh:168
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetNumberOfIntervals
void GetNumberOfIntervals(unsigned int &lNbOfIntervals) const
Set the number of Intervals for this trajectory.
Definition: AnalyticalZMPCOGTrajectory.cpp:343
Optimization::Solver::PLDPSolverHerdt::InitializeSolver
void InitializeSolver(unsigned int NumberSteps)
Definition: PLDPHerdt.cpp:142
PatternGeneratorJRL::COMPosition_s::yaw
double yaw
Definition: pgtypes.hh:56
PatternGeneratorJRL::rigid_body_state_s::Roll
boost_ublas::vector< double > Roll
Definition: rigid-body.hh:49
nm
static integer nm
Definition: qld.cpp:670
PatternGeneratorJRL::FootAbsolutePosition_t::ddx
double ddx
Definition: pgtypes.hh:147
eps1
doublereal * eps1
Definition: qld.cpp:392
PatternGeneratorJRL::Polynome4::~Polynome4
~Polynome4()
Destructor.
Definition: PolynomeFoot.cpp:157
inlist::inopen
ftnint * inopen
Definition: qld.cpp:214
PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_AbsoluteTimeReference
double m_AbsoluteTimeReference
Definition: AnalyticalZMPCOGTrajectory.hh:261
PatternGeneratorJRL::RigidBody::NbSamplingsPreviewed
const unsigned & NbSamplingsPreviewed() const
Definition: rigid-body.hh:141
PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vshift
boost_ublas::matrix< double > Vshift
Shifted selection matrix for the previewed feet positions.
Definition: intermediate-qp-matrices.hh:67
PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights
void ComputeWeights(unsigned int Mode)
Definition: OptimalControllerSolver.cpp:200
PatternGeneratorJRL::IntermedQPMat::objective_variant_s::dump
void dump(const char *filename) const
Definition: intermediate-qp-matrices.cpp:182
nu
static integer nu
Definition: qld.cpp:670
d__1
doublereal d__1
Definition: qld.cpp:643
Polynome.hh
PatternGeneratorJRL::PreviewControl::ComputeOptimalWeights
void ComputeOptimalWeights(unsigned int mode)
Compute optimal weights.
Definition: PreviewControl.cpp:198
L930
goto L930
Definition: qld.cpp:1177
PatternGeneratorJRL::FootConstraintsAsLinearSystem::FindSimilarConstraints
int FindSimilarConstraints(MAL_MATRIX(&A, double), std::vector< int > &SimilarConstraints)
Definition: FootConstraintsAsLinearSystem.cpp:55
jflag
static integer jflag
Definition: qld.cpp:658
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::GetStrategyForPCStages
int GetStrategyForPCStages()
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:834
PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcY
boost_ublas::vector< double > VcY
Definition: intermediate-qp-matrices.hh:71
PatternGeneratorJRL::FootAbsolutePosition_t::z
double z
Definition: pgtypes.hh:143
PatternGeneratorJRL::ReferenceAbsoluteVelocity_t::MAL_VECTOR
MAL_VECTOR(RefVectorX, double)
PatternGeneratorJRL::FootHalfSize::getHalfWidth
double getHalfWidth() const
Definition: FootHalfSize.cpp:91
PatternGeneratorJRL::FootConstraintsAsLinearSystem::FootConstraintsAsLinearSystem
FootConstraintsAsLinearSystem(SimplePluginManager *aSPM, CjrlHumanoidDynamicRobot *aHS)
Definition: FootConstraintsAsLinearSystem.cpp:43
a_dim1
a_dim1
Definition: qld.cpp:427
PatternGeneratorJRL::rigid_body_state_s::Pitch
boost_ublas::vector< double > Pitch
Definition: rigid-body.hh:48
lwar
integer * lwar
Definition: qld.cpp:391
PatternGeneratorJRL::Polynome::SetCoefficients
void SetCoefficients(const std::vector< double > &lCoefficients)
Definition: Polynome.cpp:83
Multitype::z
doublecomplex z
Definition: qld.cpp:245
icilist::icifmt
char * icifmt
Definition: qld.cpp:176
PatternGeneratorJRL::PreviewControl::PreviewControlTime
double PreviewControlTime() const
Definition: PreviewControl.cpp:91
PatternGeneratorJRL::FootAbsolutePosition_t::omega2
double omega2
Definition: pgtypes.hh:143
PatternGeneratorJRL::FootHalfSize::updateHalfSize
void updateHalfSize()
Definition: FootHalfSize.cpp:62
PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::GetLastCOMFromFirstStage
COMState GetLastCOMFromFirstStage()
Definition: ZMPPreviewControlWithMultiBodyZMP.cpp:310
PatternGeneratorJRL::RelativeFootPosition_s::theta
double theta
Definition: pgtypes.hh:102