#include <PreviewControl/LinearizedInvertedPendulum2D.hh>
◆ LinearizedInvertedPendulum2D()
LinearizedInvertedPendulum2D::LinearizedInvertedPendulum2D |
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◆ ~LinearizedInvertedPendulum2D()
LinearizedInvertedPendulum2D::~LinearizedInvertedPendulum2D |
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◆ GetComHeight()
const double & LinearizedInvertedPendulum2D::GetComHeight |
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Getter for the CoM height
◆ GetRobotControlPeriod()
const double & LinearizedInvertedPendulum2D::GetRobotControlPeriod |
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Getter for the control period of the robot (for interpolation) .
◆ GetSimulationControlPeriod()
const double & LinearizedInvertedPendulum2D::GetSimulationControlPeriod |
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Getter for the simulation period specifically
◆ GetState() [1/2]
COMState LinearizedInvertedPendulum2D::GetState |
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◆ getState()
com_t PatternGeneratorJRL::LinearizedInvertedPendulum2D::getState |
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◆ GetState() [2/2]
void LinearizedInvertedPendulum2D::GetState |
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Eigen::VectorXd & | lxk | ) |
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◆ InitializeSystem()
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.
◆ Interpolation()
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 ) |
Interpolation during a simulation period with control parameters.
- Parameters
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NewFinalZMPPositions: queue of ZMP positions interpolated.
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COMStates: queue of COM positions interpolated.
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ZMPRefPositions: Reference positions of ZMP (Kajita's heuristic every 5 ms).
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CurrentPosition: index of the current position of the ZMP reference (this allow to propagate some parameters define by a heuristic to the CoM positions).
- Parameters
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CX: command parameter in the forward direction.
- Parameters
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CY: command parameter in the perpendicular direction.
◆ OneIteration()
com_t LinearizedInvertedPendulum2D::OneIteration |
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double | CX, |
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double | CY ) |
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.
◆ operator()() [1/2]
const com_t PatternGeneratorJRL::LinearizedInvertedPendulum2D::operator() |
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◆ operator()() [2/2]
void PatternGeneratorJRL::LinearizedInvertedPendulum2D::operator() |
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com_t | CoM | ) |
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◆ SetComHeight()
void LinearizedInvertedPendulum2D::SetComHeight |
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const double & | aComHeight | ) |
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Setter for the CoM height
◆ SetRobotControlPeriod()
void LinearizedInvertedPendulum2D::SetRobotControlPeriod |
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const double & | aT | ) |
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Setter for the control period of the robot (for interpolation) .
◆ SetSimulationControlPeriod()
void LinearizedInvertedPendulum2D::SetSimulationControlPeriod |
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const double & | aT | ) |
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Setter for the simulation period specifically
◆ setState() [1/2]
void LinearizedInvertedPendulum2D::setState |
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com_t | aCoM | ) |
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◆ setState() [2/2]
void LinearizedInvertedPendulum2D::setState |
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COMState & | aCoM | ) |
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The documentation for this class was generated from the following files: