Detailed Description

Two Point Mass Model.

This class generates matrices of the following systems:

1) simple: c(k+1) = A c(k) + B cjerk(k+1) p(k) = D c(k)

2) final: c(k+1) = A c(k) + Bs us(k) + Bd RS(k+1) ud(k) p(k) = Dps c(k) cjerk(k) = Dcjerk c(k) + Escjerk us(k) + Edcjerk RS(k+1) ud(k)

Definition at line 29 of file two_point_mass_model.h.

#include <two_point_mass_model.h>

Inheritance diagram for humoto::pepper_mpc::TwoPointMassModel:

Public Member Functions
	TwoPointMassModel ()
	Constructor. 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...

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

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

Public Attributes
const std::size_t	Ns_

const std::size_t	Nu_

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...

Constructor & Destructor Documentation

◆ TwoPointMassModel()

humoto::pepper_mpc::TwoPointMassModel::TwoPointMassModel ( )

inline

Constructor.

Definition at line 42 of file two_point_mass_model.h.

Member Function Documentation

◆ 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

inline

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

inline

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.

◆ getBd3()

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

inline

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.

◆ 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

inline

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.

◆ 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

inline

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

inline

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

inline

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

inline

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.

Member Data Documentation

◆ Ns_

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

Definition at line 33 of file two_point_mass_model.h.

◆ Nu_

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

Definition at line 35 of file two_point_mass_model.h.

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

modules/pepper_mpc/include/pepper_mpc/two_point_mass_model.h

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TwoPointMassModel()

Member Function Documentation

◆ getAAcc()

◆ getAd3()

◆ getAJerk()

◆ getAPos()

◆ getAs3()

◆ getAsAcc()

◆ getAsPos()

◆ getAsVel()

◆ getAVel()

◆ getBAcc()

◆ getBd3()

◆ getBJerk()

◆ getBPos()

◆ getBs3()

◆ getBsAcc()

◆ getBsPos()

◆ getBsVel()

◆ getBVel()

◆ getDAcc()

◆ getDjs3()

◆ getDpd3()

◆ getDPos()

◆ getDps3()

◆ getDVel()

◆ getEAcc()

◆ getEjs3()

◆ getEPos()

◆ getEVel()

Member Data Documentation

◆ Ns_

◆ Nu_