Detailed Description

Point Mass Model with piece-wise constant CoP velocity.

This class generates matrices of the following systems:

1) controlled by position of the CoP c(k+1) = A c(k) + B z(k+1) zdot(k) = D c(k) + E z(k+1)

2) controlled by velocity of the CoP c(k+1) = Adz c(k) + Bdz dz(k+1) z(k) = Ddz c(k)

Todo:: It can be faster if A,B are computed directly as derived in documentation.

Definition at line 33 of file point_mass_model_6z.h.

#include <point_mass_model_6z.h>

Inheritance diagram for humoto::walking::PointMassModel6z:

Public Member Functions
	PointMassModel6z ()
	Constructor. More...

Static Public Member Functions
static humoto::rigidbody::PointMassState	convertCoMState (const etools::Vector6 &cstate, const double com_height)
	Converts given cstate vector to CoM state. More...

static etools::Vector6	convertCoMState (const humoto::rigidbody::PointMassState &com_state)
	Get cstate. More...

static humoto::rigidbody::PointMassState	evaluate (const double Ts, const double T, const double com_height, const etools::Vector6 &cstate, const etools::Vector2 &control)

static etools::Matrix3	getA3 (const double T, const double omega, const double Tsample)
	Create A matrix of final model. More...

static etools::Matrix3	getA3 (const double T, const double omega)
	Create A matrix of final model. More...

static etools::Matrix6	getA6 (const double T, const double omega, const double Tsample)
	Create A matrix of final model. More...

static etools::Matrix6	getA6 (const double T, const double omega)
	Create A matrix of final model. More...

static etools::Vector3	getB3 (const double T, const double omega, const double Tsample)
	Create B matrix of final model. More...

static etools::Vector3	getB3 (const double T, const double omega)
	Create A matrix of final model. More...

static etools::Matrix6x2	getB6 (const double T, const double omega, const double Tsample)
	Create B matrix of final model. More...

static etools::Matrix6x2	getB6 (const double T, const double omega)
	Create B matrix of final model. More...

static etools::Matrix1x3	getD3 (const double T, const double omega)
	Create D matrix of final model. More...

static etools::Matrix2x6	getD6 (const double T, const double omega)
	Create D matrix of final model. More...

static etools::Matrix2x6	getDcpv6 (const double omega)
	Create ksi matrix. More...

static etools::Matrix2x6	getDdz6 (const double com_height)
	Create Ddz6 matrix. More...

static double	getE3 (const double T)
	Create E matrix of final model. More...

static etools::Matrix2	getE6 (const double T, const double omega)
	Create E matrix of final model. More...

static double	getOmega (const double com_height)

Public Attributes
const std::size_t	Ns_
	Number of state variables. More...

const int	Nu_
	Number of control variables. More...

Static Private Member Functions
static etools::Matrix3	getAdz3 (const double T, const double omega)
	Create A matrix of unrefined model. More...

static etools::Vector3	getBdz3 (const double T, const double omega)
	Create B matrix of unrefined model. More...

static etools::Matrix1x3	getDdz3 (const double omega)
	Create D matrix of unrefined model. More...

Constructor & Destructor Documentation

◆ PointMassModel6z()

humoto::walking::PointMassModel6z::PointMassModel6z ( )

inline

Constructor.

Definition at line 101 of file point_mass_model_6z.h.

Member Function Documentation

◆ convertCoMState() [1/2]

static humoto::rigidbody::PointMassState humoto::walking::PointMassModel6z::convertCoMState	(	const etools::Vector6 &	cstate,
		const double	com_height
	)

inlinestatic

Converts given cstate vector to CoM state.

Returns: CoM state

Definition at line 117 of file point_mass_model_6z.h.

◆ convertCoMState() [2/2]

static etools::Vector6 humoto::walking::PointMassModel6z::convertCoMState ( const humoto::rigidbody::PointMassState & com_state )

inlinestatic

Get cstate.

Definition at line 134 of file point_mass_model_6z.h.

◆ evaluate()

static humoto::rigidbody::PointMassState humoto::walking::PointMassModel6z::evaluate	(	const double	Ts,
		const double	T,
		const double	com_height,
		const etools::Vector6 &	cstate,
		const etools::Vector2 &	control
	)

inlinestatic

Definition at line 147 of file point_mass_model_6z.h.

◆ getA3() [1/2]

static etools::Matrix3 humoto::walking::PointMassModel6z::getA3	(	const double	T,
		const double	omega,
		const double	Tsample
	)

inlinestatic

Create A matrix of final model.

Definition at line 169 of file point_mass_model_6z.h.

◆ getA3() [2/2]

static etools::Matrix3 humoto::walking::PointMassModel6z::getA3	(	const double	T,
		const double	omega
	)

inlinestatic

Create A matrix of final model.

Definition at line 183 of file point_mass_model_6z.h.

◆ getA6() [1/2]

static etools::Matrix6 humoto::walking::PointMassModel6z::getA6	(	const double	T,
		const double	omega,
		const double	Tsample
	)

inlinestatic

Create A matrix of final model.

Definition at line 192 of file point_mass_model_6z.h.

◆ getA6() [2/2]

static etools::Matrix6 humoto::walking::PointMassModel6z::getA6	(	const double	T,
		const double	omega
	)

inlinestatic

Create A matrix of final model.

Definition at line 206 of file point_mass_model_6z.h.

◆ getAdz3()

static etools::Matrix3 humoto::walking::PointMassModel6z::getAdz3	(	const double	T,
		const double	omega
	)

inlinestaticprivate

Create A matrix of unrefined model.

Definition at line 39 of file point_mass_model_6z.h.

◆ getB3() [1/2]

static etools::Vector3 humoto::walking::PointMassModel6z::getB3	(	const double	T,
		const double	omega,
		const double	Tsample
	)

inlinestatic

Create B matrix of final model.

Definition at line 215 of file point_mass_model_6z.h.

◆ getB3() [2/2]

static etools::Vector3 humoto::walking::PointMassModel6z::getB3	(	const double	T,
		const double	omega
	)

inlinestatic

Create A matrix of final model.

Definition at line 227 of file point_mass_model_6z.h.

◆ getB6() [1/2]

static etools::Matrix6x2 humoto::walking::PointMassModel6z::getB6	(	const double	T,
		const double	omega,
		const double	Tsample
	)

inlinestatic

Create B matrix of final model.

Definition at line 236 of file point_mass_model_6z.h.

◆ getB6() [2/2]

static etools::Matrix6x2 humoto::walking::PointMassModel6z::getB6	(	const double	T,
		const double	omega
	)

inlinestatic

Create B matrix of final model.

Definition at line 251 of file point_mass_model_6z.h.

◆ getBdz3()

static etools::Vector3 humoto::walking::PointMassModel6z::getBdz3	(	const double	T,
		const double	omega
	)

inlinestaticprivate

Create B matrix of unrefined model.

Definition at line 59 of file point_mass_model_6z.h.

◆ getD3()

static etools::Matrix1x3 humoto::walking::PointMassModel6z::getD3	(	const double	T,
		const double	omega
	)

inlinestatic

Create D matrix of final model.

Definition at line 260 of file point_mass_model_6z.h.

◆ getD6()

static etools::Matrix2x6 humoto::walking::PointMassModel6z::getD6	(	const double	T,
		const double	omega
	)

inlinestatic

Create D matrix of final model.

Definition at line 272 of file point_mass_model_6z.h.

◆ getDcpv6()

static etools::Matrix2x6 humoto::walking::PointMassModel6z::getDcpv6 ( const double omega )

inlinestatic

Create ksi matrix.

Note: Used to generate matrix for terminal constraint

Definition at line 319 of file point_mass_model_6z.h.

◆ getDdz3()

static etools::Matrix1x3 humoto::walking::PointMassModel6z::getDdz3 ( const double omega )

inlinestaticprivate

Create D matrix of unrefined model.

Definition at line 79 of file point_mass_model_6z.h.

◆ getDdz6()

static etools::Matrix2x6 humoto::walking::PointMassModel6z::getDdz6 ( const double com_height )

inlinestatic

Create Ddz6 matrix.

Definition at line 304 of file point_mass_model_6z.h.

◆ getE3()

static double humoto::walking::PointMassModel6z::getE3 ( const double T )

inlinestatic

Create E matrix of final model.

Definition at line 286 of file point_mass_model_6z.h.

◆ getE6()

static etools::Matrix2 humoto::walking::PointMassModel6z::getE6	(	const double	T,
		const double	omega
	)

inlinestatic

Create E matrix of final model.

Definition at line 295 of file point_mass_model_6z.h.

◆ getOmega()

static double humoto::walking::PointMassModel6z::getOmega ( const double com_height )

inlinestatic

Definition at line 106 of file point_mass_model_6z.h.

Member Data Documentation

◆ Ns_

const std::size_t humoto::walking::PointMassModel6z::Ns_

Number of state variables.

Definition at line 91 of file point_mass_model_6z.h.

◆ Nu_

const int humoto::walking::PointMassModel6z::Nu_

Number of control variables.

Definition at line 94 of file point_mass_model_6z.h.

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

core/include/walking/point_mass_model_6z.h

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Private Member Functions

Constructor & Destructor Documentation

◆ PointMassModel6z()

Member Function Documentation

◆ convertCoMState() [1/2]

◆ convertCoMState() [2/2]

◆ evaluate()

◆ getA3() [1/2]

◆ getA3() [2/2]

◆ getA6() [1/2]

◆ getA6() [2/2]

◆ getAdz3()

◆ getB3() [1/2]

◆ getB3() [2/2]

◆ getB6() [1/2]

◆ getB6() [2/2]

◆ getBdz3()

◆ getD3()

◆ getD6()

◆ getDcpv6()

◆ getDdz3()

◆ getDdz6()

◆ getE3()

◆ getE6()

◆ getOmega()

Member Data Documentation

◆ Ns_

◆ Nu_