Detailed Description

Definition at line 20 of file model.h.

#include <model.h>

Inheritance diagram for humoto::pepper_mpc::Model:

Public Member Functions
	Model ()
	Default constructor. More...

	Model (const humoto::pepper_mpc::RobotParameters &robot_parameters)
	Construct and initialize robot parameters. More...

	EIGENTOOLS_CONSTANT_SIZE_VECTOR (12) getMPCState() const
	Get MPC state. More...

etools::Matrix3	getAd3 (const double T) const
	Create intermediate Ad3 matrix. More...

etools::Matrix3	getAs3 (const double T) const
	Create intermediate As3 matrix. More...

double	getBaseHeight () const
	Get base height. More...

double	getBaseMass () const
	Get base mass. More...

double	getBaseOrientation () const
	Get base orientation. More...

humoto::rigidbody::RigidBodyState	getBaseState () const
	Returns current base state. More...

etools::Vector3	getBd3 (const double T) const
	Create intermediate Bd3 matrix. More...

double	getBodyHeight () const
	Get body height. More...

double	getBodyMass () const
	Get body mass. More...

humoto::rigidbody::PointMassState	getBodyState () const
	Returns current body state. More...

etools::Vector3	getBs3 (const double T) const
	Create intermediate Bs3 matrix. More...

etools::Vector2	getCoP () const
	Get CoP position. More...

etools::Vector2	getCoP (const humoto::pepper_mpc::ModelState &model_state) const
	Get CoP position. More...

etools::Matrix1x3	getDjs3 (const double T) const
	Create intermediate Dc6 matrix of final model. More...

etools::Matrix1x3	getDpd3 (const double body_height, const double base_mass, const double body_mass) const
	Create Dpd3 matrix. More...

etools::Matrix1x3	getDps3 (const double base_height, const double base_mass, const double body_mass) const
	Create Dps3 matrix. More...

double	getEjs3 (const double T) const
	Create intermediate Esc6 matrix of final model. More...

etools::Vector6	getMPCBaseState () const
	Get base state. More...

etools::Vector6	getMPCBaseState (const humoto::pepper_mpc::ModelState &model_state) const
	Get base state. More...

etools::Vector6	getMPCBodyState () const
	Get body state. More...

etools::Vector6	getMPCBodyState (const humoto::pepper_mpc::ModelState &model_state) const
	Get body state. More...

void	getNextState (humoto::pepper_mpc::ModelState &model_state, const double T, const double Ts, const etools::Vector2 &base_control, const etools::Vector2 &body_control, const double base_height, const double body_height, const double theta) const
	Get next state from the current state. More...

void	getNextState (humoto::pepper_mpc::ModelState &model_state, const double T, const double Ts, const EIGENTOOLS_CONSTANT_SIZE_VECTOR(12) &preceding_mpcstate, const etools::Vector2 &base_control, const etools::Vector2 &body_control, const double base_height, const double body_height, const double theta) const
	Get next state from the given state. More...

double	getTheta () const
	Get theta angle of the current state. More...

double	getTheta (const humoto::pepper_mpc::ModelState &model_state) const
	Get theta angle of the given state. More...

void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="model") const
	Log. More...

void	noop () const

void	setParameters (const humoto::pepper_mpc::RobotParameters &robot_parameters)
	Initialize robot parameters. More...

void	updateState (const humoto::ModelState &model_state)
	Update model state. More...

Public Attributes
etools::Vector2	current_base_position_
	2d position of the base More...

const std::size_t	Ns_

const std::size_t	Nu_

humoto::pepper_mpc::RobotParameters	robot_parameters_
	robot parameters More...

humoto::pepper_mpc::ModelState	state_
	state of the model More...

Static Protected Member Functions
template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAAcc (const double T)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAJerk (const double T)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAPos (const double T)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAsAcc (const double T, const double Ts)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAsPos (const double T, const double Ts)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAsVel (const double T, const double Ts)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAVel (const double T)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBAcc (const double T)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBJerk (const double T)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBPos (const double T)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBsAcc (const double T, const double Ts)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBsPos (const double T, const double Ts)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBsVel (const double T, const double Ts)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBVel (const double T)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getDAcc (const double T)
	Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getDPos (const double T)
	Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getDVel (const double T)
	Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getEAcc (const double T)
	Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getEPos (const double T)
	Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getEVel (const double T)
	Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

Private Member Functions
void	finalize ()
	Determines position of the base. More...

Constructor & Destructor Documentation

◆ Model() [1/2]

humoto::pepper_mpc::Model::Model ( )

inline

Default constructor.

Definition at line 48 of file model.h.

◆ Model() [2/2]

humoto::pepper_mpc::Model::Model ( const humoto::pepper_mpc::RobotParameters & robot_parameters )

inlineexplicit

Construct and initialize robot parameters.

Definition at line 57 of file model.h.

Member Function Documentation

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR()

humoto::pepper_mpc::Model::EIGENTOOLS_CONSTANT_SIZE_VECTOR ( 12 ) const

inline

Get MPC state.

Definition at line 99 of file model.h.

◆ finalize()

void humoto::pepper_mpc::Model::finalize ( )

inlineprivate

Determines position of the base.

Definition at line 27 of file model.h.

◆ getAAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAAcc ( const double T )

inlinestaticinherited

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 67 of file triple_integrator.h.

◆ getAd3()

etools::Matrix3 humoto::pepper_mpc::TwoPointMassModel::getAd3 ( const double T ) const

inlineinherited

Create intermediate Ad3 matrix.

Parameters

[in] T timestep

Returns: 3x3 matrix

Definition at line 66 of file two_point_mass_model.h.

◆ getAJerk()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAJerk ( const double T )

inlinestaticinherited

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 53 of file triple_integrator.h.

◆ getAPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAPos ( const double T )

inlinestaticinherited

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 93 of file triple_integrator.h.

◆ getAs3()

etools::Matrix3 humoto::pepper_mpc::TwoPointMassModel::getAs3 ( const double T ) const

inlineinherited

Create intermediate As3 matrix.

Parameters

[in] T timestep

Returns: 3x3 matrix

Definition at line 54 of file two_point_mass_model.h.

◆ getAsAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAsAcc	(	const double	T,
		const double	Ts
	)

inlinestaticinherited

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: A matrix

Definition at line 118 of file triple_integrator.h.

◆ getAsPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAsPos	(	const double	T,
		const double	Ts
	)

inlinestaticinherited

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: A matrix

Definition at line 146 of file triple_integrator.h.

◆ getAsVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAsVel	(	const double	T,
		const double	Ts
	)

inlinestaticinherited

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: A matrix

Definition at line 132 of file triple_integrator.h.

◆ getAVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAVel ( const double T )

inlinestaticinherited

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 80 of file triple_integrator.h.

◆ getBAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBAcc ( const double T )

inlinestaticinherited

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: B3 matrix

Definition at line 188 of file triple_integrator.h.

◆ getBaseHeight()

double humoto::pepper_mpc::Model::getBaseHeight ( ) const

inline

Get base height.

Returns: base height

Definition at line 311 of file model.h.

◆ getBaseMass()

double humoto::pepper_mpc::Model::getBaseMass ( ) const

inline

Get base mass.

Returns: base mass

Definition at line 334 of file model.h.

◆ getBaseOrientation()

double humoto::pepper_mpc::Model::getBaseOrientation ( ) const

inline

Get base orientation.

Returns: base orientation

Definition at line 345 of file model.h.

◆ getBaseState()

humoto::rigidbody::RigidBodyState humoto::pepper_mpc::Model::getBaseState ( ) const

inline

Returns current base state.

Returns: base state

Definition at line 90 of file model.h.

◆ getBd3()

etools::Vector3 humoto::pepper_mpc::TwoPointMassModel::getBd3 ( const double T ) const

inlineinherited

Create intermediate Bd3 matrix.

Parameters

[in] T timestep

Returns: Bd6 matrix

Definition at line 90 of file two_point_mass_model.h.

◆ getBJerk()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBJerk ( const double T )

inlinestaticinherited

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: B3 matrix

Definition at line 174 of file triple_integrator.h.

◆ getBodyHeight()

double humoto::pepper_mpc::Model::getBodyHeight ( ) const

inline

Get body height.

Returns: body height

Definition at line 300 of file model.h.

◆ getBodyMass()

double humoto::pepper_mpc::Model::getBodyMass ( ) const

inline

Get body mass.

Returns: body mass

Definition at line 323 of file model.h.

◆ getBodyState()

humoto::rigidbody::PointMassState humoto::pepper_mpc::Model::getBodyState ( ) const

inline

Returns current body state.

Returns: body state

Definition at line 79 of file model.h.

◆ getBPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBPos ( const double T )

inlinestaticinherited

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: B3 matrix

Definition at line 214 of file triple_integrator.h.

◆ getBs3()

etools::Vector3 humoto::pepper_mpc::TwoPointMassModel::getBs3 ( const double T ) const

inlineinherited

Create intermediate Bs3 matrix.

Parameters

[in] T timestep

Returns: Bs6 matrix

Definition at line 78 of file two_point_mass_model.h.

◆ getBsAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBsAcc	(	const double	T,
		const double	Ts
	)

inlinestaticinherited

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: B3 matrix

Definition at line 238 of file triple_integrator.h.

◆ getBsPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBsPos	(	const double	T,
		const double	Ts
	)

inlinestaticinherited

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: B3 matrix

Definition at line 266 of file triple_integrator.h.

◆ getBsVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBsVel	(	const double	T,
		const double	Ts
	)

inlinestaticinherited

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: B3 matrix

Definition at line 252 of file triple_integrator.h.

◆ getBVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBVel ( const double T )

inlinestaticinherited

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: B3 matrix

Definition at line 201 of file triple_integrator.h.

◆ getCoP() [1/2]

etools::Vector2 humoto::pepper_mpc::Model::getCoP ( ) const

inline

Get CoP position.

Returns: CoP position

Definition at line 168 of file model.h.

◆ getCoP() [2/2]

etools::Vector2 humoto::pepper_mpc::Model::getCoP ( const humoto::pepper_mpc::ModelState & model_state ) const

inline

Get CoP position.

Parameters

[in] model_state

Returns: CoP position

Definition at line 181 of file model.h.

◆ getDAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getDAcc ( const double T )

inlinestaticinherited

Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 294 of file triple_integrator.h.

◆ getDjs3()

etools::Matrix1x3 humoto::pepper_mpc::TwoPointMassModel::getDjs3 ( const double T ) const

inlineinherited

Create intermediate Dc6 matrix of final model.

Parameters

[in] T timestep

Returns: Dcjerk6 matrix

Definition at line 142 of file two_point_mass_model.h.

◆ getDpd3()

etools::Matrix1x3 humoto::pepper_mpc::TwoPointMassModel::getDpd3	(	const double	body_height,
		const double	base_mass,
		const double	body_mass
	)		const

inlineinherited

Create Dpd3 matrix.

Parameters

[in]	body_height	CoM of body height
[in]	base_mass	base mass
[in]	body_mass	body mass

Returns: matrix

Definition at line 123 of file two_point_mass_model.h.

◆ getDPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getDPos ( const double T )

inlinestaticinherited

Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 316 of file triple_integrator.h.

◆ getDps3()

etools::Matrix1x3 humoto::pepper_mpc::TwoPointMassModel::getDps3	(	const double	base_height,
		const double	base_mass,
		const double	body_mass
	)		const

inlineinherited

Create Dps3 matrix.

Parameters

[in]	base_height	CoM of base height
[in]	base_mass	base mass
[in]	body_mass	body mass

Returns: matrix

Definition at line 104 of file two_point_mass_model.h.

◆ getDVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getDVel ( const double T )

inlinestaticinherited

Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 305 of file triple_integrator.h.

◆ getEAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getEAcc ( const double T )

inlinestaticinherited

Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 340 of file triple_integrator.h.

◆ getEjs3()

double humoto::pepper_mpc::TwoPointMassModel::getEjs3 ( const double T ) const

inlineinherited

Create intermediate Esc6 matrix of final model.

Parameters

[in] T timestep

Returns: Escjerk6 matrix

Definition at line 155 of file two_point_mass_model.h.

◆ getEPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getEPos ( const double T )

inlinestaticinherited

Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 362 of file triple_integrator.h.

◆ getEVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getEVel ( const double T )

inlinestaticinherited

Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 351 of file triple_integrator.h.

◆ getMPCBaseState() [1/2]

etools::Vector6 humoto::pepper_mpc::Model::getMPCBaseState ( ) const

inline

Get base state.

Returns: base state

Definition at line 113 of file model.h.

◆ getMPCBaseState() [2/2]

etools::Vector6 humoto::pepper_mpc::Model::getMPCBaseState ( const humoto::pepper_mpc::ModelState & model_state ) const

inline

Get base state.

Parameters

[in] model_state

Returns: base state

Definition at line 138 of file model.h.

◆ getMPCBodyState() [1/2]

etools::Vector6 humoto::pepper_mpc::Model::getMPCBodyState ( ) const

inline

Get body state.

Returns: body state

Definition at line 124 of file model.h.

◆ getMPCBodyState() [2/2]

etools::Vector6 humoto::pepper_mpc::Model::getMPCBodyState ( const humoto::pepper_mpc::ModelState & model_state ) const

inline

Get body state.

Parameters

[in] model_state

Returns: body state

Definition at line 154 of file model.h.

◆ getNextState() [1/2]

void humoto::pepper_mpc::Model::getNextState	(	humoto::pepper_mpc::ModelState &	model_state,
		const double	T,
		const double	Ts,
		const etools::Vector2 &	base_control,
		const etools::Vector2 &	body_control,
		const double	base_height,
		const double	body_height,
		const double	theta
	)		const

inline

Get next state from the current state.

Parameters

[out]	model_state	next model state
[in]	T	timestep
[in]	Ts	subsampling timestep (use Ts = T if not needed)
[in]	base_control	control vector
[in]	body_control	control vector
[in]	base_height	base height
[in]	body_height	body height
[in]	theta	orientation of the base

Definition at line 214 of file model.h.

◆ getNextState() [2/2]

void humoto::pepper_mpc::Model::getNextState	(	humoto::pepper_mpc::ModelState &	model_state,
		const double	T,
		const double	Ts,
		const EIGENTOOLS_CONSTANT_SIZE_VECTOR(12) &	preceding_mpcstate,
		const etools::Vector2 &	base_control,
		const etools::Vector2 &	body_control,
		const double	base_height,
		const double	body_height,
		const double	theta
	)		const

inline

Get next state from the given state.

Parameters

[out]	model_state	next model state
[in]	T	timestep
[in]	Ts	subsampling timestep (use Ts = T if not needed)
[in]	preceding_mpcstate	mpc state
[in]	base_control	control vector
[in]	body_control	control vector
[in]	base_height	base height
[in]	body_height	body height
[in]	theta	orientation of the base

Definition at line 249 of file model.h.

◆ getTheta() [1/2]

double humoto::pepper_mpc::Model::getTheta ( ) const

inline

Get theta angle of the current state.

Returns: theta angle

Definition at line 276 of file model.h.

◆ getTheta() [2/2]

double humoto::pepper_mpc::Model::getTheta ( const humoto::pepper_mpc::ModelState & model_state ) const

inline

Get theta angle of the given state.

Parameters

[in] model_state

Returns: theta angle

Definition at line 289 of file model.h.

◆ log()

void humoto::pepper_mpc::Model::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"model"`
	)		const

inlinevirtual

Log.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Implements humoto::Model.

Definition at line 371 of file model.h.

◆ noop()

void humoto::Model::noop ( ) const

inlineinherited

Definition at line 57 of file model.h.

◆ setParameters()

void humoto::pepper_mpc::Model::setParameters ( const humoto::pepper_mpc::RobotParameters & robot_parameters )

inline

Initialize robot parameters.

Definition at line 66 of file model.h.

◆ updateState()

void humoto::pepper_mpc::Model::updateState ( const humoto::ModelState & model_state )

inlinevirtual

Update model state.

Parameters

[in] model_state model state.

Implements humoto::Model.

Definition at line 356 of file model.h.

Member Data Documentation

◆ current_base_position_

etools::Vector2 humoto::pepper_mpc::Model::current_base_position_

2d position of the base

Definition at line 41 of file model.h.

◆ Ns_

const std::size_t humoto::pepper_mpc::TwoPointMassModel::Ns_

inherited

Definition at line 33 of file two_point_mass_model.h.

◆ Nu_

const std::size_t humoto::pepper_mpc::TwoPointMassModel::Nu_

inherited

Definition at line 35 of file two_point_mass_model.h.

◆ robot_parameters_

humoto::pepper_mpc::RobotParameters humoto::pepper_mpc::Model::robot_parameters_

robot parameters

Definition at line 38 of file model.h.

◆ state_

humoto::pepper_mpc::ModelState humoto::pepper_mpc::Model::state_

state of the model

Definition at line 35 of file model.h.

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

modules/pepper_mpc/include/pepper_mpc/model.h

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Private Member Functions

Constructor & Destructor Documentation

◆ Model() [1/2]

◆ Model() [2/2]

Member Function Documentation

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR()

◆ finalize()

◆ getAAcc()

◆ getAd3()

◆ getAJerk()

◆ getAPos()

◆ getAs3()

◆ getAsAcc()

◆ getAsPos()

◆ getAsVel()

◆ getAVel()

◆ getBAcc()

◆ getBaseHeight()

◆ getBaseMass()

◆ getBaseOrientation()

◆ getBaseState()

◆ getBd3()

◆ getBJerk()

◆ getBodyHeight()

◆ getBodyMass()

◆ getBodyState()

◆ getBPos()

◆ getBs3()

◆ getBsAcc()

◆ getBsPos()

◆ getBsVel()

◆ getBVel()

◆ getCoP() [1/2]

◆ getCoP() [2/2]

◆ getDAcc()

◆ getDjs3()

◆ getDpd3()

◆ getDPos()

◆ getDps3()

◆ getDVel()

◆ getEAcc()

◆ getEjs3()

◆ getEPos()

◆ getEVel()

◆ getMPCBaseState() [1/2]

◆ getMPCBaseState() [2/2]

◆ getMPCBodyState() [1/2]

◆ getMPCBodyState() [2/2]

◆ getNextState() [1/2]

◆ getNextState() [2/2]

◆ getTheta() [1/2]

◆ getTheta() [2/2]

◆ log()

◆ noop()

◆ setParameters()

◆ updateState()

Member Data Documentation

◆ current_base_position_

◆ Ns_

◆ Nu_

◆ robot_parameters_

◆ state_