Detailed Description

Abstract base class (for control problems)

To be extended to represent each particular problem, i.e. walking pattern generator or whole body controller.

Definition at line 40 of file control_problem.h.

#include <control_problem.h>

Inheritance diagram for humoto::ControlProblem:

Public Member Functions
virtual void	guessSolution (Solution &solution_guess, const Solution &old_solution) const
	Guess solution. More...

void	initSolutionStructure (humoto::Solution &solution) const
	Initialize structure of the given solution based on the internally stored solution structure. More...

virtual void	log (humoto::Logger &, const LogEntryName &, const std::string &) const =0

Protected Member Functions
	ControlProblem ()

	~ControlProblem ()
	Protected destructor: prevent destruction of the child classes through a base pointer. More...

Protected Attributes
SolutionStructure	sol_structure_

Constructor & Destructor Documentation

◆ ~ControlProblem()

humoto::ControlProblem::~ControlProblem ( )

inlineprotected

Protected destructor: prevent destruction of the child classes through a base pointer.

Definition at line 51 of file control_problem.h.

◆ ControlProblem()

humoto::ControlProblem::ControlProblem ( )

inlineprotected

Definition at line 52 of file control_problem.h.

Member Function Documentation

◆ guessSolution()

virtual void humoto::ControlProblem::guessSolution	(	Solution &	solution_guess,
		const Solution &	old_solution
	)		const

inlinevirtual

Guess solution.

Parameters

[out]	solution_guess	solution guess
[in]	old_solution	old solution

Attention: This method is called automatically. Can (and often should) be redefined in derived classes.

Reimplemented in humoto::pepper_mpc::MPCforMG, and humoto::wpg04::MPCforWPG.

Definition at line 82 of file control_problem.h.

◆ initSolutionStructure()

void humoto::ControlProblem::initSolutionStructure ( humoto::Solution & solution ) const

inline

Initialize structure of the given solution based on the internally stored solution structure.

Parameters

[out] solution solution

Attention: This method is called automatically.

Definition at line 64 of file control_problem.h.

◆ log()

virtual void humoto::ControlProblem::log	(	humoto::Logger &	,
		const LogEntryName &	,
		const std::string &
	)		const

pure virtual

Implemented in humoto::pepper_mpc::MPCforMG, humoto::wpg04::MPCforWPG, and humoto::pepper_ik::WholeBodyController< t_features >.

Member Data Documentation

◆ sol_structure_

SolutionStructure humoto::ControlProblem::sol_structure_

protected

Definition at line 43 of file control_problem.h.

The documentation for this class was generated from the following file:

core/include/humoto/control_problem.h