#include <PreviewControl/LinearizedInvertedPendulum2D.hh>
LinearizedInvertedPendulum2D::LinearizedInvertedPendulum2D |
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LinearizedInvertedPendulum2D::~LinearizedInvertedPendulum2D |
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const double & LinearizedInvertedPendulum2D::GetComHeight |
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Getter for the CoM height
const double & LinearizedInvertedPendulum2D::GetRobotControlPeriod |
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Getter for the control period of the robot (for interpolation) .
const double & LinearizedInvertedPendulum2D::GetSimulationControlPeriod |
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Getter for the simulation period specifically
void LinearizedInvertedPendulum2D::GetState |
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MAL_VECTOR_TYPE(double)& |
lxk | ) |
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COMState LinearizedInvertedPendulum2D::GetState |
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com_t PatternGeneratorJRL::LinearizedInvertedPendulum2D::getState |
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int LinearizedInvertedPendulum2D::InitializeSystem |
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Initialize the system.
- Returns
- 0 if the initialization is fine, -1 if the control period is not initialized, -2 if the Com height is not initialized.
References i, and j.
int LinearizedInvertedPendulum2D::Interpolation |
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std::deque< COMState > & |
COMStates, |
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std::deque< ZMPPosition > & |
ZMPRefPositions, |
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int |
CurrentPosition, |
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double |
CX, |
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double |
CY |
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com_t LinearizedInvertedPendulum2D::OneIteration |
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double |
CX, |
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double |
CY |
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Simulate one iteration of the LIPM.
- Parameters
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[in] | CX,: | control value in the forward direction. |
[in] | CY,: | control value in the left-right direction. |
- Returns
- 0 if the object has been properly initialized -1, otherwise.
References MAL_RET_A_by_B, and MAL_VECTOR_DIM.
const com_t PatternGeneratorJRL::LinearizedInvertedPendulum2D::operator() |
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void PatternGeneratorJRL::LinearizedInvertedPendulum2D::operator() |
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com_t |
CoM | ) |
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inline |
void LinearizedInvertedPendulum2D::SetComHeight |
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const double & |
aComHeight | ) |
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Setter for the CoM height
void LinearizedInvertedPendulum2D::SetRobotControlPeriod |
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const double & |
aT | ) |
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Setter for the control period of the robot (for interpolation) .
void LinearizedInvertedPendulum2D::SetSimulationControlPeriod |
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const double & |
aT | ) |
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Setter for the simulation period specifically
void LinearizedInvertedPendulum2D::setState |
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com_t |
aCoM | ) |
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void LinearizedInvertedPendulum2D::setState |
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COMState & |
aCoM | ) |
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