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28 #ifndef _PREVIEW_CONTROL_H_
29 #define _PREVIEW_CONTROL_H_
36 using namespace ::std;
39 #include <SimplePlugin.hh>
52 SimplePluginManager *lSPM,
54 bool computeWeightsAutomatically =
false);
66 Eigen::MatrixXd &
x, Eigen::MatrixXd &y,
double &sxzmp,
double &syzmp,
67 deque<PatternGeneratorJRL::ZMPPosition> &ZMPPositions,
68 unsigned long int lindex,
double &zmpx2,
double &zmpy2,
bool Simulation);
73 deque<double> &ZMPPositions,
74 unsigned long int lindex,
double &zmpx2,
88 vector<double> &ZMPPositions,
89 unsigned long int lindex,
double &zmpx2,
129 virtual void CallMethod(std::string &Method, std::istringstream &astrm);
141 Eigen::MatrixXd m_Kx;
151 double m_PreviewControlTime;
154 double m_SamplingPeriod;
157 long unsigned int m_SizeOfPreviewWindow;
167 bool m_AutoComputeWeights;
170 unsigned int m_DefaultWeightComputationMode;
173 #include <ZMPRefTrajectoryGeneration/ZMPDiscretization.hh>
void ReadPrecomputedFile(string aFileName)
Read the file of parameters aFileName and set the sampling period, the preview control time,...
Definition: PreviewControl.cpp:117
Class to implement the preview control.
Definition: PreviewControl.hh:48
double GetHeightOfCoM() const
Definition: PreviewControl.cpp:81
int OneIterationOfPreview(Eigen::MatrixXd &x, Eigen::MatrixXd &y, double &sxzmp, double &syzmp, deque< PatternGeneratorJRL::ZMPPosition > &ZMPPositions, unsigned long int lindex, double &zmpx2, double &zmpy2, bool Simulation)
One iteration of the preview control.
Definition: PreviewControl.cpp:297
void ComputeOptimalWeights(unsigned int mode)
Compute optimal weights.
Definition: PreviewControl.cpp:170
void SetPreviewControlTime(double lPreviewControlTime)
Definition: PreviewControl.cpp:93
doublereal * x
Definition: qld.cpp:386
void print()
Overloading of << operator.
Definition: PreviewControl.cpp:438
static const unsigned int MODE_WITH_INITIALPOS
Definition: OptimalControllerSolver.hh:147
void SetSamplingPeriod(double lSamplingPeriod)
Setter for the sampling period.
Definition: PreviewControl.cpp:83
bool IsCoherent()
Indicates if the weights are coherent with the parameters.
Definition: PreviewControl.cpp:115
void SetHeightOfCoM(double lZc)
Definition: PreviewControl.cpp:103
double PreviewControlTime() const
Definition: PreviewControl.cpp:77
virtual void CallMethod(std::string &Method, std::istringstream &astrm)
Overloading method of SimplePlugin.
Definition: PreviewControl.cpp:453
~PreviewControl()
Definition: PreviewControl.cpp:73
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
double SamplingPeriod() const
Getter for the sampling period.
Definition: PreviewControl.cpp:75
int OneIterationOfPreview1D(Eigen::MatrixXd &x, double &sxzmp, deque< double > &ZMPPositions, unsigned long int lindex, double &zmpx2, bool Simulation)
One iteration of the preview control along one axis (using queues)
Definition: PreviewControl.cpp:341
PreviewControl(SimplePluginManager *lSPM, unsigned int defaultMode=OptimalControllerSolver::MODE_WITH_INITIALPOS, bool computeWeightsAutomatically=false)
Definition: PreviewControl.cpp:40