29 #ifndef _LINEAR_INVERTED_PENDULUM_2D_H_ 30 #define _LINEAR_INVERTED_PENDULUM_2D_H_ 38 #include <privatepgtypes.hh> 69 std::deque<ZMPPosition> &ZMPRefPositions,
70 int CurrentPosition,
double CX,
double CY);
90 int m_InterpolationInterval;
93 double m_SamplingPeriod;
108 Eigen::VectorXd m_xk;
113 Eigen::VectorXd m_zk;
146 void GetState(Eigen::VectorXd &lxk);
void SetSimulationControlPeriod(const double &)
Definition: LinearizedInvertedPendulum2D.cpp:70
void setState(com_t aCoM)
Definition: LinearizedInvertedPendulum2D.cpp:129
com_t OneIteration(double CX, double CY)
Simulate one iteration of the LIPM.
Definition: LinearizedInvertedPendulum2D.cpp:233
COMState GetState()
Definition: LinearizedInvertedPendulum2D.cpp:115
int InitializeSystem()
Initialize the system.
Definition: LinearizedInvertedPendulum2D.cpp:131
Definition: LinearizedInvertedPendulum2D.hh:41
void SetRobotControlPeriod(const double &)
Definition: LinearizedInvertedPendulum2D.cpp:83
LinearizedInvertedPendulum2D()
Definition: LinearizedInvertedPendulum2D.cpp:39
void operator()(com_t CoM)
Accessor.
Definition: LinearizedInvertedPendulum2D.hh:143
void SetComHeight(const double &)
Definition: LinearizedInvertedPendulum2D.cpp:62
const double & GetRobotControlPeriod()
Definition: LinearizedInvertedPendulum2D.cpp:79
~LinearizedInvertedPendulum2D()
Definition: LinearizedInvertedPendulum2D.cpp:56
const com_t operator()() const
Accessor.
Definition: LinearizedInvertedPendulum2D.hh:140
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:163
Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
const double & GetComHeight() const
Definition: LinearizedInvertedPendulum2D.cpp:58
com_t getState()
Definition: LinearizedInvertedPendulum2D.hh:149
const double & GetSimulationControlPeriod() const
Definition: LinearizedInvertedPendulum2D.cpp:66
Structure to store the COM state computed by the preview control.
Definition: pgtypes.hh:75