Detailed Description

Preview horizon of an MPC [form_preview_horizon.m].

Definition at line 138 of file preview_horizon.h.

#include <preview_horizon.h>

Public Member Functions
bool	form (const MPCParameters &mpc_params, const Model &model, const humoto::walking::StanceFiniteStateMachine &stance_fsm, const WalkParameters &walk_parameters)
	Form the preview horizon object. More...

etools::Matrix2	getCoPBounds (const std::size_t interval_index) const
	Get CoP bounds. More...

etools::Matrix2	getFootPositionBounds (const std::size_t var_support_index) const
	Get bounds on foot position. More...

std::size_t	getNumberOfVariableSteps () const
	Returns number of variable steps in the preview. More...

etools::Matrix2	getRotationMatrix (const std::size_t interval_index) const
	Get orientation of the support corresponding to the given interval. More...

const WalkState &	getWalkState (const std::size_t interval_index) const
	Get walk state corresponding to the given interval. More...

void	log (humoto::Logger &, const LogEntryName &, const std::string &) const
	Log. More...

Public Attributes
std::vector< PreviewHorizonInterval >	intervals_

std::vector< std::size_t >	variable_steps_indices_

std::vector< WalkState >	walk_states_

Private Member Functions
void	getConstraints (humoto::wpg04::WalkState &state, const Model &model)
	Get constraints for each state. More...

void	previewStates (const Model &model, const humoto::walking::StanceFiniteStateMachine &stance_fsm, const WalkParameters &walk_parameters, const std::size_t preview_duration)
	Preview a sequence of walk states with velocities, rotations etc. More...

Member Function Documentation

◆ form()

bool humoto::wpg04::PreviewHorizon::form	(	const MPCParameters &	mpc_params,
		const Model &	model,
		const humoto::walking::StanceFiniteStateMachine &	stance_fsm,
		const WalkParameters &	walk_parameters
	)

Form the preview horizon object.

Parameters

[in]	mpc_params
[in]	model
[in]	stance_fsm
[in]	walk_parameters

Returns

Definition at line 354 of file preview_horizon.h.

◆ getConstraints()

void humoto::wpg04::PreviewHorizon::getConstraints	(	humoto::wpg04::WalkState &	state,
		const Model &	model
	)

private

Get constraints for each state.

Parameters

[in,out]	state
[in]	model

Definition at line 471 of file preview_horizon.h.

◆ getCoPBounds()

etools::Matrix2 humoto::wpg04::PreviewHorizon::getCoPBounds ( const std::size_t interval_index ) const

inline

Get CoP bounds.

Parameters

[in] interval_index

Returns: 2d matrix [lb, ub]

Definition at line 165 of file preview_horizon.h.

◆ getFootPositionBounds()

etools::Matrix2 humoto::wpg04::PreviewHorizon::getFootPositionBounds ( const std::size_t var_support_index ) const

inline

Get bounds on foot position.

Parameters

[in] var_support_index index of a variable step in the preview horizon

Returns: 2d matrix [lb, ub]

Definition at line 179 of file preview_horizon.h.

◆ getNumberOfVariableSteps()

std::size_t humoto::wpg04::PreviewHorizon::getNumberOfVariableSteps ( ) const

Returns number of variable steps in the preview.

Returns: number of variable steps in the preview

Definition at line 337 of file preview_horizon.h.

◆ getRotationMatrix()

etools::Matrix2 humoto::wpg04::PreviewHorizon::getRotationMatrix ( const std::size_t interval_index ) const

inline

Get orientation of the support corresponding to the given interval.

Parameters

[in] interval_index

Returns: 2d rotation matrix

Definition at line 194 of file preview_horizon.h.

◆ getWalkState()

const WalkState& humoto::wpg04::PreviewHorizon::getWalkState ( const std::size_t interval_index ) const

inline

Get walk state corresponding to the given interval.

Parameters

[in] interval_index

Returns: walk state

Definition at line 208 of file preview_horizon.h.

◆ log()

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

Log.

Parameters

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

Definition at line 551 of file preview_horizon.h.

◆ previewStates()

void humoto::wpg04::PreviewHorizon::previewStates	(	const Model &	model,
		const humoto::walking::StanceFiniteStateMachine &	stance_fsm,
		const WalkParameters &	walk_parameters,
		const std::size_t	preview_duration
	)

private

Preview a sequence of walk states with velocities, rotations etc.

Parameters

[in]	model
[in]	stance_fsm
[in]	walk_parameters
[in]	preview_duration

Definition at line 236 of file preview_horizon.h.

Member Data Documentation

◆ intervals_

std::vector<PreviewHorizonInterval> humoto::wpg04::PreviewHorizon::intervals_

Definition at line 143 of file preview_horizon.h.

◆ variable_steps_indices_

std::vector<std::size_t> humoto::wpg04::PreviewHorizon::variable_steps_indices_

Definition at line 141 of file preview_horizon.h.

◆ walk_states_

std::vector<WalkState> humoto::wpg04::PreviewHorizon::walk_states_

Definition at line 144 of file preview_horizon.h.

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

modules/wpg04/include/wpg04/preview_horizon.h

Detailed Description

Public Member Functions

Public Attributes

Private Member Functions

Member Function Documentation

◆ form()

◆ getConstraints()

◆ getCoPBounds()

◆ getFootPositionBounds()

◆ getNumberOfVariableSteps()

◆ getRotationMatrix()

◆ getWalkState()

◆ log()

◆ previewStates()

Member Data Documentation

◆ intervals_

◆ variable_steps_indices_

◆ walk_states_