Detailed Description

Parameters of an MPC problem. [set_parameters_mpc.m].

Definition at line 80 of file common.h.

#include <common.h>

Inheritance diagram for humoto::wpg04::MPCParameters:

Public Member Functions
	MPCParameters (const std::size_t preview_horizon_len=16, const std::size_t sampling_time_ms=100, const std::size_t subsampling_time_ms=100, const std::size_t tds_sampling_time_ms=100)
	Constructor. More...

double	getSubsamplingTime () const
	getSubsamplingTime More...

void	readConfig (t_Reader &reader, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readNestedConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read nested configuration node. More...

void	setDefaults ()
	Initialize to default values. More...

void	writeConfig (t_Writer &writer) const
	Write configuration. More...

void	writeConfig (t_Writer &writer, const std::string &node_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name, const std::string &node_name) const
	Write configuration. More...

void	writeNestedConfig (t_Writer &writer) const
	Write nested configuration node. More...

void	writeNestedConfig (t_Writer &writer, const std::string &node_name) const
	Write nested configuration node. More...

Public Attributes
std::size_t	preview_horizon_length_
	Length of the preview horizon (N) More...

std::size_t	sampling_time_ms_
	Sampling time in milliseconds (T_ms) More...

std::size_t	subsampling_time_ms_
	Subsampling time in milliseconds (Ts_ms) More...

std::size_t	tds_sampling_time_ms_
	Sampling time of a transitional double support in milliseconds (Ttds_ms) More...

Protected Member Functions
void	finalize ()
	Compute some derived variables. More...

virtual const std::string &	getConfigSectionID () const=0
	Return the default name of a configuration node corresponding to this class. More...

virtual std::size_t	getNumberOfEntries () const=0
	Get number of entries in the corresponding configuration node. More...

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Private Attributes
double	sampling_time_
	Sampling time in seconds (T) More...

std::size_t	subsamples_num_
	Number of subsamples per sample (TN) More...

double	subsampling_time_
	Subsampling time in seconds (Ts) More...

double	tds_sampling_time_
	Sampling time of a transitional double support in seconds (Ttds) More...

std::size_t	tds_subsamples_num_
	Number of subsamples per doubles support sample (TN_tds) More...

Constructor & Destructor Documentation

◆ MPCParameters()

humoto::wpg04::MPCParameters::MPCParameters	(	const std::size_t	preview_horizon_len = `16`,
		const std::size_t	sampling_time_ms = `100`,
		const std::size_t	subsampling_time_ms = `100`,
		const std::size_t	tds_sampling_time_ms = `100`
	)

inline

Constructor.

Parameters

[in]	preview_horizon_len	Length of the preview horizon
[in]	sampling_time_ms	Sampling time in milliseconds
[in]	subsampling_time_ms	Subsampling time in milliseconds
[in]	tds_sampling_time_ms	Sampling time of a transitional double support in milliseconds

Definition at line 180 of file common.h.

Member Function Documentation

◆ finalize()

void humoto::wpg04::MPCParameters::finalize ( )

inlineprotectedvirtual

Compute some derived variables.

Reimplemented from humoto::config::CommonConfigurableBase< true >.

Definition at line 114 of file common.h.

◆ getConfigSectionID()

virtual const std::string& humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getConfigSectionID ( ) const

protectedpure virtualinherited

Return the default name of a configuration node corresponding to this class.

Returns: the name

Attention: Implementation of this method is added automatically upon inclusion of define_accessors.h if HUMOTO_CONFIG_SECTION_ID is defined.

Implemented in humoto::TaskBase.

◆ getNumberOfEntries()

virtual std::size_t humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getNumberOfEntries ( ) const

protectedpure virtualinherited

Get number of entries in the corresponding configuration node.

Returns: number of entries

Implemented in humoto::ConfigurableOptimizationProblem.

◆ getSubsamplingTime()

double humoto::wpg04::MPCParameters::getSubsamplingTime ( ) const

inline

getSubsamplingTime

Returns: subsampling time

Definition at line 199 of file common.h.

◆ readConfig() [1/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry

Definition at line 167 of file config.h.

◆ readConfig() [2/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 183 of file config.h.

◆ readConfig() [3/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 202 of file config.h.

◆ readConfig() [4/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry

Definition at line 218 of file config.h.

◆ readConfig() [5/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty
[in]	crash_on_missing_entry

Definition at line 235 of file config.h.

◆ readConfig() [6/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 255 of file config.h.

◆ readNestedConfig()

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readNestedConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read nested configuration node.

Parameters

[in]	reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 132 of file config.h.

◆ setDefaults()

void humoto::wpg04::MPCParameters::setDefaults ( )

inlinevirtual

Initialize to default values.

Implements humoto::config::CommonConfigurableBase< true >.

Definition at line 161 of file common.h.

◆ writeConfig() [1/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( t_Writer & writer ) const

inlineinherited

Write configuration.

Parameters

[in,out] writer configuration writer

Definition at line 300 of file config.h.

◆ writeConfig() [2/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 313 of file config.h.

◆ writeConfig() [3/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( const std::string & file_name ) const

inlineinherited

Write configuration.

Parameters

[in] file_name file name

Definition at line 328 of file config.h.

◆ writeConfig() [4/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	const std::string &	file_name,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty

Definition at line 342 of file config.h.

◆ writeNestedConfig() [1/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig ( t_Writer & writer ) const

inlineinherited

Write nested configuration node.

Parameters

[in,out] writer configuration writer

Definition at line 272 of file config.h.

◆ writeNestedConfig() [2/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write nested configuration node.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 285 of file config.h.

Member Data Documentation

◆ default_crash_on_missing_entry_

const bool humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::default_crash_on_missing_entry_

staticprotectedinherited

Definition at line 67 of file config.h.

◆ preview_horizon_length_

std::size_t humoto::wpg04::MPCParameters::preview_horizon_length_

Length of the preview horizon (N)

Definition at line 144 of file common.h.

◆ sampling_time_

double humoto::wpg04::MPCParameters::sampling_time_

private

Sampling time in seconds (T)

Definition at line 100 of file common.h.

◆ sampling_time_ms_

std::size_t humoto::wpg04::MPCParameters::sampling_time_ms_

Sampling time in milliseconds (T_ms)

Definition at line 147 of file common.h.

◆ subsamples_num_

std::size_t humoto::wpg04::MPCParameters::subsamples_num_

private

Number of subsamples per sample (TN)

Definition at line 94 of file common.h.

◆ subsampling_time_

double humoto::wpg04::MPCParameters::subsampling_time_

private

Subsampling time in seconds (Ts)

Definition at line 103 of file common.h.

◆ subsampling_time_ms_

std::size_t humoto::wpg04::MPCParameters::subsampling_time_ms_

Subsampling time in milliseconds (Ts_ms)

Definition at line 150 of file common.h.

◆ tds_sampling_time_

double humoto::wpg04::MPCParameters::tds_sampling_time_

private

Sampling time of a transitional double support in seconds (Ttds)

Definition at line 107 of file common.h.

◆ tds_sampling_time_ms_

std::size_t humoto::wpg04::MPCParameters::tds_sampling_time_ms_

Sampling time of a transitional double support in milliseconds (Ttds_ms)

Definition at line 154 of file common.h.

◆ tds_subsamples_num_

std::size_t humoto::wpg04::MPCParameters::tds_subsamples_num_

private

Number of subsamples per doubles support sample (TN_tds)

Definition at line 97 of file common.h.

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

modules/wpg04/include/wpg04/common.h

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Attributes

Private Attributes

Constructor & Destructor Documentation

◆ MPCParameters()

Member Function Documentation

◆ finalize()

◆ getConfigSectionID()

◆ getNumberOfEntries()

◆ getSubsamplingTime()

◆ readConfig() [1/6]

◆ readConfig() [2/6]

◆ readConfig() [3/6]

◆ readConfig() [4/6]

◆ readConfig() [5/6]

◆ readConfig() [6/6]

◆ readNestedConfig()

◆ setDefaults()

◆ writeConfig() [1/4]

◆ writeConfig() [2/4]

◆ writeConfig() [3/4]

◆ writeConfig() [4/4]

◆ writeNestedConfig() [1/2]

◆ writeNestedConfig() [2/2]

Member Data Documentation

◆ default_crash_on_missing_entry_

◆ preview_horizon_length_

◆ sampling_time_

◆ sampling_time_ms_

◆ subsamples_num_

◆ subsampling_time_

◆ subsampling_time_ms_

◆ tds_sampling_time_

◆ tds_sampling_time_ms_

◆ tds_subsamples_num_