PatternGeneratorJRL::LinearizedInvertedPendulum2D Class Reference

#include <PreviewControl/LinearizedInvertedPendulum2D.hh>

List of all members.

Public Member Functions
	LinearizedInvertedPendulum2D ()
	~LinearizedInvertedPendulum2D ()
int	InitializeSystem ()
	Initialize the system.
int	Interpolation (std::deque< COMState > &COMStates, std::deque< ZMPPosition > &ZMPRefPositions, int CurrentPosition, double CX, double CY)
	Interpolation during a simulation period with control parameters.
int	OneIteration (double CX, double CY)
	Simulate one iteration of the LIPM.
Getter and setter of variables
const double &	GetComHeight () const
void	SetComHeight (const double &)
const double &	GetSimulationControlPeriod () const
void	SetSimulationControlPeriod (const double &)
const double &	GetRobotControlPeriod ()
void	SetRobotControlPeriod (const double &)
void	GetState (MAL_VECTOR_TYPE(double)&lxk)
void	setState (MAL_VECTOR_TYPE(double) lxk)

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Constructor & Destructor Documentation

LinearizedInvertedPendulum2D::LinearizedInvertedPendulum2D

(

)

Constructor

References MAL_MATRIX_RESIZE, and MAL_VECTOR_RESIZE.

LinearizedInvertedPendulum2D::~LinearizedInvertedPendulum2D

(

)

Destructor

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Member Function Documentation

const double & LinearizedInvertedPendulum2D::GetComHeight

(

)

const

Getter for the CoM height

const double & LinearizedInvertedPendulum2D::GetRobotControlPeriod

(

)

Getter for the control period of the robot (for interpolation) .

const double & LinearizedInvertedPendulum2D::GetSimulationControlPeriod

(

)

const

Getter for the simulation period specifically

void LinearizedInvertedPendulum2D::GetState

(

MAL_VECTOR_TYPE(double)&

lxk

)

Get state.

References MAL_VECTOR_TYPE.

int LinearizedInvertedPendulum2D::InitializeSystem

(

)

Initialize the system.

Returns:

0 if the initialization is fine, -1 if the control period is not initialized, -2 if the Com height is not initialized.

int LinearizedInvertedPendulum2D::Interpolation	(	std::deque< COMState > &	COMStates,
		std::deque< ZMPPosition > &	ZMPRefPositions,
		int	CurrentPosition,
		double	CX,
		double	CY
	)

Interpolation during a simulation period with control parameters.

Parameters:

[out]		NewFinalZMPPositions: queue of ZMP positions interpolated.
[out]		COMStates: queue of COM positions interpolated.
[in]		ZMPRefPositions: Reference positions of ZMP (Kajita's heuristic every 5 ms).
[in]		CurrentPosition: index of the current position of the ZMP reference (this allow to propagate some parameters define by a heuristic to the CoM positions).
[in]		CX: command parameter in the forward direction.
[in]		CY: command parameter in the perpendicular direction.

References PatternGeneratorJRL::ZMPPosition_s::px, PatternGeneratorJRL::ZMPPosition_s::py, PatternGeneratorJRL::ZMPPosition_s::theta, PatternGeneratorJRL::COMState_s::x, PatternGeneratorJRL::COMState_s::y, PatternGeneratorJRL::COMState_s::yaw, and PatternGeneratorJRL::COMState_s::z.

int LinearizedInvertedPendulum2D::OneIteration	(	double	CX,
		double	CY
	)

Simulate one iteration of the LIPM.

Parameters:

[in]	CX,:	control value in the forward direction.
[in]	CY,:	control value in the left-right direction.

Returns:

0 if the object has been properly initialized -1, otherwise.

Vector to compute the command applied to the LIPM

References MAL_C_eq_A_by_B, MAL_RET_A_by_B, and MAL_VECTOR_DIM.

void LinearizedInvertedPendulum2D::SetComHeight

(

const double &

aComHeight

)

Setter for the CoM height

void LinearizedInvertedPendulum2D::SetRobotControlPeriod

(

const double &

aT

)

Setter for the control period of the robot (for interpolation) .

void LinearizedInvertedPendulum2D::SetSimulationControlPeriod

(

const double &

aT

)

Setter for the simulation period specifically

void LinearizedInvertedPendulum2D::setState

(

MAL_VECTOR_TYPE(double)

lxk

)

Get state.

References MAL_VECTOR_TYPE.