Detailed Description

Preview horizon of an MPC [form_preview_horizon.m].

Definition at line 149 of file preview_horizon.h.

#include <preview_horizon.h>

Public Member Functions
bool	form (const MPCParameters &mpc_params, const Model &model, const MotionParameters &motion_parameters)
	Form the preview horizon object. More...

bool	form (const MPCParameters &mpc_params, const Model &model, const std::deque< MotionParameters > &motion_parameters_deque)
	Form the preview horizon object. More...

etools::Vector2	getBaseReferencePosition (const std::size_t interval_index) const
	Get base reference position. More...

etools::Vector2	getBaseReferenceVelocity (const std::size_t interval_index) const
	Get base reference velocity. More...

etools::Matrix2	getBodyBounds (const std::size_t interval_index) const
	Get body bounds. More...

etools::Matrix2	getCoPBounds (const std::size_t interval_index) const
	Get CoP bounds for given interval. More...

std::size_t	getIntervalIndexByTimeOffset (std::size_t &offset_ms) const
	Finds interval which contains the time instant with the given offset from the beginning of the preview horizon. More...

std::size_t	getIntervalIndexByTimeOffset (double &offset) const
	Finds interval which contains the time instant with the given offset from the beginning of the preview horizon. More...

etools::Matrix2	getNominalBaseAccelerationBounds (const std::size_t interval_index) const
	Get nominal base acceleration bounds for a given interval. More...

etools::Matrix2	getNominalBaseVelocityBounds (const std::size_t interval_index) const
	Get nominal base velocity bounds for a given interval. More...

std::size_t	getPreviewHorizonLength () const
	Get preview horizon length. More...

etools::Matrix2	getRotationMatrix (const std::size_t interval_index) const
	Get orientation of the support corresponding to the given interval. More...

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

Public Attributes
std::vector< PreviewHorizonInterval >	intervals_

Member Function Documentation

◆ form() [1/2]

bool humoto::pepper_mpc::PreviewHorizon::form	(	const MPCParameters &	mpc_params,
		const Model &	model,
		const MotionParameters &	motion_parameters
	)

inline

Form the preview horizon object.

Parameters

[in]	mpc_params
[in]	model
[in]	motion_parameters

Returns: true if successful

Definition at line 165 of file preview_horizon.h.

◆ form() [2/2]

bool humoto::pepper_mpc::PreviewHorizon::form	(	const MPCParameters &	mpc_params,
		const Model &	model,
		const std::deque< MotionParameters > &	motion_parameters_deque
	)

inline

Form the preview horizon object.

Parameters

[in]	mpc_params
[in]	model
[in]	motion_parameters_deque

Returns: true if successful

Definition at line 202 of file preview_horizon.h.

◆ getBaseReferencePosition()

etools::Vector2 humoto::pepper_mpc::PreviewHorizon::getBaseReferencePosition ( const std::size_t interval_index ) const

inline

Get base reference position.

Parameters

[in] interval_index

Returns: 2d vector [base_pos_ref_x, base_pos_ref_y]

Definition at line 339 of file preview_horizon.h.

◆ getBaseReferenceVelocity()

etools::Vector2 humoto::pepper_mpc::PreviewHorizon::getBaseReferenceVelocity ( const std::size_t interval_index ) const

inline

Get base reference velocity.

Parameters

[in] interval_index

Returns: 2d vector [base_vel_ref_x, base_vel_ref_y]

Definition at line 326 of file preview_horizon.h.

◆ getBodyBounds()

etools::Matrix2 humoto::pepper_mpc::PreviewHorizon::getBodyBounds ( const std::size_t interval_index ) const

inline

Get body bounds.

Parameters

[in] interval_index

Returns: 2d matrix [lb, ub]

Definition at line 300 of file preview_horizon.h.

◆ getCoPBounds()

etools::Matrix2 humoto::pepper_mpc::PreviewHorizon::getCoPBounds ( const std::size_t interval_index ) const

inline

Get CoP bounds for given interval.

Parameters

[in] interval_index

Returns: 2d matrix [lb, ub]

Definition at line 313 of file preview_horizon.h.

◆ getIntervalIndexByTimeOffset() [1/2]

std::size_t humoto::pepper_mpc::PreviewHorizon::getIntervalIndexByTimeOffset ( std::size_t & offset_ms ) const

inline

Finds interval which contains the time instant with the given offset from the beginning of the preview horizon.

Parameters

[in,out] offset_ms input: offset within the preview horizon output: offset within the interval

Returns: interval index

Definition at line 367 of file preview_horizon.h.

◆ getIntervalIndexByTimeOffset() [2/2]

std::size_t humoto::pepper_mpc::PreviewHorizon::getIntervalIndexByTimeOffset ( double & offset ) const

inline

Finds interval which contains the time instant with the given offset from the beginning of the preview horizon.

Parameters

[in,out] offset input: offset within the preview horizon output: offset within the interval

Returns: interval index

Definition at line 396 of file preview_horizon.h.

◆ getNominalBaseAccelerationBounds()

etools::Matrix2 humoto::pepper_mpc::PreviewHorizon::getNominalBaseAccelerationBounds ( const std::size_t interval_index ) const

inline

Get nominal base acceleration bounds for a given interval.

Parameters

[in] interval_index

Returns: 2d matrix [x_base_acc, y_base_acc]

Definition at line 287 of file preview_horizon.h.

◆ getNominalBaseVelocityBounds()

etools::Matrix2 humoto::pepper_mpc::PreviewHorizon::getNominalBaseVelocityBounds ( const std::size_t interval_index ) const

inline

Get nominal base velocity bounds for a given interval.

Parameters

[in] interval_index

Returns: 2d matrix [x_base_vel, y_base_vel]

Definition at line 274 of file preview_horizon.h.

◆ getPreviewHorizonLength()

std::size_t humoto::pepper_mpc::PreviewHorizon::getPreviewHorizonLength ( ) const

inline

Get preview horizon length.

Returns: preview horizon length

Definition at line 261 of file preview_horizon.h.

◆ getRotationMatrix()

etools::Matrix2 humoto::pepper_mpc::PreviewHorizon::getRotationMatrix ( const std::size_t interval_index ) const

inline

Get orientation of the support corresponding to the given interval.

Parameters

[in] interval_index

Returns: 2d rotation matrix

Definition at line 352 of file preview_horizon.h.

◆ log()

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

inline

Log.

Parameters

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

Definition at line 423 of file preview_horizon.h.

Member Data Documentation

◆ intervals_

std::vector<PreviewHorizonInterval> humoto::pepper_mpc::PreviewHorizon::intervals_

Definition at line 152 of file preview_horizon.h.

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

modules/pepper_mpc/include/pepper_mpc/preview_horizon.h

Detailed Description

Public Member Functions

Public Attributes

Member Function Documentation

◆ form() [1/2]

◆ form() [2/2]

◆ getBaseReferencePosition()

◆ getBaseReferenceVelocity()

◆ getBodyBounds()

◆ getCoPBounds()

◆ getIntervalIndexByTimeOffset() [1/2]

◆ getIntervalIndexByTimeOffset() [2/2]

◆ getNominalBaseAccelerationBounds()

◆ getNominalBaseVelocityBounds()

◆ getPreviewHorizonLength()

◆ getRotationMatrix()

◆ log()

Member Data Documentation

◆ intervals_