humoto::pepper_mpc::PreviewHorizonInterval Class Reference

Detailed Description

A helper class defining one interval of a preview horizon.

Definition at line 20 of file preview_horizon.h.

#include <preview_horizon.h>

Public Member Functions
	PreviewHorizonInterval ()
	Default constructor. More...
void	initialize (double &theta, const MPCParameters &mpc_params, const MotionParameters &motion_parameters, const Model &model)
	Form the preview horizon object. More...
void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="preview_interval") const
	Log. More...

Public Attributes
double	base_height_
double	base_mass_
etools::Vector2	base_pos_ref_
etools::Vector2	base_vel_ref_
etools::Matrix2	body_bounds_
double	body_height_
double	body_mass_
etools::Matrix2	cop_bounds_
etools::Matrix2	nominal_base_acceleration_bounds_
etools::Matrix2	nominal_base_velocity_bounds_
etools::Matrix2	rotation_
double	T_
std::size_t	T_ms_
double	theta_

Constructor & Destructor Documentation

PreviewHorizonInterval()

humoto::pepper_mpc::PreviewHorizonInterval::PreviewHorizonInterval ( )

inline

Default constructor.

Definition at line 53 of file preview_horizon.h.

Member Function Documentation

initialize()

void humoto::pepper_mpc::PreviewHorizonInterval::initialize ( double &  theta, const MPCParameters &  mpc_params, const MotionParameters &  motion_parameters, const Model &  model  )

inline

Form the preview horizon object.

Parameters

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

Returns

Definition at line 86 of file preview_horizon.h.

log()

void humoto::pepper_mpc::PreviewHorizonInterval::log ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "preview_interval"  ) const

inline

Log.

Parameters

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

Definition at line 121 of file preview_horizon.h.

Member Data Documentation

base_height_

double humoto::pepper_mpc::PreviewHorizonInterval::base_height_

Definition at line 36 of file preview_horizon.h.

base_mass_

double humoto::pepper_mpc::PreviewHorizonInterval::base_mass_

Definition at line 39 of file preview_horizon.h.

base_pos_ref_

etools::Vector2 humoto::pepper_mpc::PreviewHorizonInterval::base_pos_ref_

Definition at line 34 of file preview_horizon.h.

base_vel_ref_

etools::Vector2 humoto::pepper_mpc::PreviewHorizonInterval::base_vel_ref_

Definition at line 32 of file preview_horizon.h.

body_bounds_

etools::Matrix2 humoto::pepper_mpc::PreviewHorizonInterval::body_bounds_

Definition at line 30 of file preview_horizon.h.

body_height_

double humoto::pepper_mpc::PreviewHorizonInterval::body_height_

Definition at line 37 of file preview_horizon.h.

body_mass_

double humoto::pepper_mpc::PreviewHorizonInterval::body_mass_

Definition at line 40 of file preview_horizon.h.

cop_bounds_

etools::Matrix2 humoto::pepper_mpc::PreviewHorizonInterval::cop_bounds_

Definition at line 24 of file preview_horizon.h.

nominal_base_acceleration_bounds_

etools::Matrix2 humoto::pepper_mpc::PreviewHorizonInterval::nominal_base_acceleration_bounds_

Definition at line 28 of file preview_horizon.h.

nominal_base_velocity_bounds_

etools::Matrix2 humoto::pepper_mpc::PreviewHorizonInterval::nominal_base_velocity_bounds_

Definition at line 26 of file preview_horizon.h.

rotation_

etools::Matrix2 humoto::pepper_mpc::PreviewHorizonInterval::rotation_

Definition at line 46 of file preview_horizon.h.

T_

double humoto::pepper_mpc::PreviewHorizonInterval::T_

Definition at line 43 of file preview_horizon.h.

T_ms_

std::size_t humoto::pepper_mpc::PreviewHorizonInterval::T_ms_

Definition at line 42 of file preview_horizon.h.

theta_

double humoto::pepper_mpc::PreviewHorizonInterval::theta_

Definition at line 45 of file preview_horizon.h.

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

• modules/pepper_mpc/include/pepper_mpc/preview_horizon.h