Detailed Description

[initialize_model.m]

Todo:: AS. Currently the state of the swing foot is not updated during the swing phase, i.e. it is the same as it was in the end of the preceding TDS. It may be more reasonable to undefine this state instead.

Definition at line 25 of file model.h.

#include <model.h>

Inheritance diagram for humoto::wpg04::Model:

Public Member Functions
	Model ()
	Default constructor. More...

etools::Matrix2	getADSCoPBounds () const
	Return bounds on position of the CoP in ADS / SS. More...

etools::Vector2	getADSPositionFromFoot (const humoto::LeftOrRight::Type left_or_right, const etools::Matrix2 &ref_R, const etools::Vector2 &ref_position) const
	Get position of a foot or aligned double support based on position of an aligned support or a foot. More...

double	getCoMHeight () const
	Get CoM height. More...

humoto::rigidbody::PointMassState	getCoMState () const
	Returns current CoM state. More...

etools::Vector6	getCState () const
	Get cstate. More...

etools::Matrix2	getFootBounds (const humoto::LeftOrRight::Type left_or_right, const FootBoundsType::Type bounds_type) const
	Get bounds on position of a foot. More...

etools::Vector2	getFootPositionFromADS (const humoto::LeftOrRight::Type left_or_right, const etools::Matrix2 &ref_R, const etools::Vector2 &ref_position) const
	Get position of a foot or aligned double support based on position of an aligned support or a foot. More...

humoto::rigidbody::RigidBodyState	getFootState (const humoto::LeftOrRight::Type left_or_right) const
	Returns current foot state. More...

etools::Matrix2	getSSCoPBounds () const
	Return bounds on position of the CoP in ADS / SS. More...

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

void	noop () const

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 (HRP2) More...

void	setFootParameters (const humoto::walking::RobotFootParameters &foot_param)
	Constructor. More...

void	updateState (const humoto::ModelState &model_state)
	Update model state. 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...

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
etools::Vector2	current_support_position_
	2d position of the current support (center of a foot or ADS) More...

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

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

humoto::wpg04::ModelState	state_
	state of the model More...

Protected Member Functions
void	finalize ()
	Create some useful parameters derived from the primal robot parameters. 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 Member Functions
void	determineSupportPosition ()
	Determines position of support. More...

Constructor & Destructor Documentation

◆ Model()

humoto::wpg04::Model::Model ( )

inline

Default constructor.

Definition at line 84 of file model.h.

Member Function Documentation

◆ convertCoMState() [1/2]

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

inlinestaticinherited

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 )

inlinestaticinherited

Get cstate.

Definition at line 134 of file point_mass_model_6z.h.

◆ determineSupportPosition()

void humoto::wpg04::Model::determineSupportPosition ( )

inlineprivate

Determines position of support.

assume that in DS feet are aligned

Definition at line 33 of file model.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
	)

inlinestaticinherited

Definition at line 147 of file point_mass_model_6z.h.

◆ finalize()

void humoto::walking::RobotFootParameters::finalize ( )

inlineprotectedvirtualinherited

Create some useful parameters derived from the primal robot parameters.

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

Definition at line 176 of file robot_foot_parameters.h.

◆ getA3() [1/2]

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

inlinestaticinherited

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
	)

inlinestaticinherited

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
	)

inlinestaticinherited

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
	)

inlinestaticinherited

Create A matrix of final model.

Definition at line 206 of file point_mass_model_6z.h.

◆ getADSCoPBounds()

etools::Matrix2 humoto::walking::RobotFootParameters::getADSCoPBounds ( ) const

inlineinherited

Return bounds on position of the CoP in ADS / SS.

Returns: 2x2 matrix: [lb, ub]

Definition at line 300 of file robot_foot_parameters.h.

◆ getADSPositionFromFoot()

etools::Vector2 humoto::walking::RobotFootParameters::getADSPositionFromFoot	(	const humoto::LeftOrRight::Type	left_or_right,
		const etools::Matrix2 &	ref_R,
		const etools::Vector2 &	ref_position
	)		const

inlineinherited

Get position of a foot or aligned double support based on position of an aligned support or a foot.

Parameters

[in]	left_or_right	left or right foot
[in]	ref_R	orientation of the reference foot / ADS
[in]	ref_position	position of the reference foot / ADS

Returns: 2d position.

Definition at line 270 of file robot_foot_parameters.h.

◆ getB3() [1/2]

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

inlinestaticinherited

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
	)

inlinestaticinherited

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
	)

inlinestaticinherited

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
	)

inlinestaticinherited

Create B matrix of final model.

Definition at line 251 of file point_mass_model_6z.h.

◆ getCoMHeight()

double humoto::wpg04::Model::getCoMHeight ( ) const

inline

Get CoM height.

Returns: CoM height

Definition at line 142 of file model.h.

◆ getCoMState()

humoto::rigidbody::PointMassState humoto::wpg04::Model::getCoMState ( ) const

inline

Returns current CoM state.

Returns: CoM state

Definition at line 106 of file model.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.

◆ getCState()

etools::Vector6 humoto::wpg04::Model::getCState ( ) const

inline

Get cstate.

Definition at line 129 of file model.h.

◆ getD3()

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

inlinestaticinherited

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
	)

inlinestaticinherited

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 )

inlinestaticinherited

Create ksi matrix.

Note: Used to generate matrix for terminal constraint

Definition at line 319 of file point_mass_model_6z.h.

◆ getDdz6()

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

inlinestaticinherited

Create Ddz6 matrix.

Definition at line 304 of file point_mass_model_6z.h.

◆ getE3()

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

inlinestaticinherited

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
	)

inlinestaticinherited

Create E matrix of final model.

Definition at line 295 of file point_mass_model_6z.h.

◆ getFootBounds()

etools::Matrix2 humoto::walking::RobotFootParameters::getFootBounds	(	const humoto::LeftOrRight::Type	left_or_right,
		const FootBoundsType::Type	bounds_type
	)		const

inlineinherited

Get bounds on position of a foot.

Parameters

[in]	left_or_right	left or right foot
[in]	bounds_type	type of the bounds

Returns: 2x2 matrix: [lb, ub]

Definition at line 287 of file robot_foot_parameters.h.

◆ getFootPositionFromADS()

etools::Vector2 humoto::walking::RobotFootParameters::getFootPositionFromADS	(	const humoto::LeftOrRight::Type	left_or_right,
		const etools::Matrix2 &	ref_R,
		const etools::Vector2 &	ref_position
	)		const

inlineinherited

Get position of a foot or aligned double support based on position of an aligned support or a foot.

Parameters

[in]	left_or_right	left or right foot
[in]	ref_R	orientation of the reference foot / ADS
[in]	ref_position	position of the reference foot / ADS

Returns: 2d position.

Definition at line 261 of file robot_foot_parameters.h.

◆ getFootState()

humoto::rigidbody::RigidBodyState humoto::wpg04::Model::getFootState ( const humoto::LeftOrRight::Type left_or_right ) const

inline

Returns current foot state.

Parameters

[in] left_or_right left/right

Returns: foot state

Definition at line 119 of file model.h.

◆ 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.

◆ getOmega()

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

inlinestaticinherited

Definition at line 106 of file point_mass_model_6z.h.

◆ getSSCoPBounds()

etools::Matrix2 humoto::walking::RobotFootParameters::getSSCoPBounds ( ) const

inlineinherited

Return bounds on position of the CoP in ADS / SS.

Returns: 2x2 matrix: [lb, ub]

Definition at line 307 of file robot_foot_parameters.h.

◆ log()

void humoto::wpg04::Model::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"model"`
	)		const

inlinevirtual

Log.

Parameters

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

Implements humoto::Model.

Definition at line 222 of file model.h.

◆ noop()

void humoto::Model::noop ( ) const

inlineinherited

Definition at line 57 of file model.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::walking::RobotFootParameters::setDefaults ( )

inlinevirtualinherited

Initialize to default values (HRP2)

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

Definition at line 238 of file robot_foot_parameters.h.

◆ setFootParameters()

void humoto::wpg04::Model::setFootParameters ( const humoto::walking::RobotFootParameters & foot_param )

inline

Constructor.

Parameters

[in] foot_param parameters of the robot

Definition at line 95 of file model.h.

◆ updateState()

void humoto::wpg04::Model::updateState ( const humoto::ModelState & model_state )

inlinevirtual

Update model state.

Parameters

[in] model_state model state.

Implements humoto::Model.

Definition at line 154 of file model.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

◆ current_support_position_

etools::Vector2 humoto::wpg04::Model::current_support_position_

2d position of the current support (center of a foot or ADS)

Definition at line 77 of file model.h.

◆ 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.

◆ Ns_

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

inherited

Number of state variables.

Definition at line 91 of file point_mass_model_6z.h.

◆ Nu_

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

inherited

Number of control variables.

Definition at line 94 of file point_mass_model_6z.h.

◆ state_

humoto::wpg04::ModelState humoto::wpg04::Model::state_

state of the model

Definition at line 75 of file model.h.

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

modules/wpg04/include/wpg04/model.h

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Attributes

Private Member Functions

Constructor & Destructor Documentation

◆ Model()

Member Function Documentation

◆ convertCoMState() [1/2]

◆ convertCoMState() [2/2]

◆ determineSupportPosition()

◆ evaluate()

◆ finalize()

◆ getA3() [1/2]

◆ getA3() [2/2]

◆ getA6() [1/2]

◆ getA6() [2/2]

◆ getADSCoPBounds()

◆ getADSPositionFromFoot()

◆ getB3() [1/2]

◆ getB3() [2/2]

◆ getB6() [1/2]

◆ getB6() [2/2]

◆ getCoMHeight()

◆ getCoMState()

◆ getConfigSectionID()

◆ getCState()

◆ getD3()

◆ getD6()

◆ getDcpv6()

◆ getDdz6()

◆ getE3()

◆ getE6()

◆ getFootBounds()

◆ getFootPositionFromADS()

◆ getFootState()

◆ getNumberOfEntries()

◆ getOmega()

◆ getSSCoPBounds()

◆ log()

◆ noop()

◆ readConfig() [1/6]

◆ readConfig() [2/6]

◆ readConfig() [3/6]

◆ readConfig() [4/6]

◆ readConfig() [5/6]

◆ readConfig() [6/6]

◆ readNestedConfig()

◆ setDefaults()

◆ setFootParameters()

◆ updateState()

◆ writeConfig() [1/4]

◆ writeConfig() [2/4]

◆ writeConfig() [3/4]

◆ writeConfig() [4/4]

◆ writeNestedConfig() [1/2]

◆ writeNestedConfig() [2/2]

Member Data Documentation

◆ current_support_position_

◆ default_crash_on_missing_entry_

◆ Ns_

◆ Nu_

◆ state_