Class to implement the preview control. More...

#include <PreviewControl/PreviewControl.hh>

Public Member Functions
	PreviewControl (SimplePluginManager *lSPM, unsigned int defaultMode=OptimalControllerSolver::MODE_WITH_INITIALPOS, bool computeWeightsAutomatically=false)
	~PreviewControl ()
void	ReadPrecomputedFile (string aFileName)
	Read the file of parameters aFileName and set the sampling period, the preview control time, Ks, Kx, and F.
int	OneIterationOfPreview (MAL_MATRIX(&x, double), MAL_MATRIX(&y, double), double &sxzmp, double &syzmp, deque< PatternGeneratorJRL::ZMPPosition > &ZMPPositions, unsigned int lindex, double &zmpx2, double &zmpy2, bool Simulation)
	One iteration of the preview control.
int	OneIterationOfPreview1D (MAL_MATRIX(&x, double), double &sxzmp, deque< double > &ZMPPositions, unsigned int lindex, double &zmpx2, bool Simulation)
	One iteration of the preview control along one axis (using queues)
int	OneIterationOfPreview1D (MAL_MATRIX(&x, double), double &sxzmp, vector< double > &ZMPPositions, unsigned int lindex, double &zmpx2, bool Simulation)
	One iteration of the preview control along one axis (using vectors)
void	ComputeOptimalWeights (unsigned int mode)
	Compute optimal weights.
void	print ()
	Overloading of << operator.
virtual void	CallMethod (std::string &Method, std::istringstream &astrm)
	Overloading method of SimplePlugin.
Methods to access the basic variables of the preview control.
double	SamplingPeriod () const
	Getter for the sampling period.
double	PreviewControlTime () const
double	GetHeightOfCoM () const
void	SetSamplingPeriod (double lSamplingPeriod)
	Setter for the sampling period.
void	SetPreviewControlTime (double lPreviewControlTime)
void	SetHeightOfCoM (double lZc)
bool	IsCoherent ()
	Indicates if the weights are coherent with the parameters.

Detailed Description

Class to implement the preview control.

Constructor & Destructor Documentation

PreviewControl::PreviewControl	(	SimplePluginManager *	lSPM,
		unsigned int	defaultMode = `OptimalControllerSolver::MODE_WITH_INITIALPOS`,
		bool	computeWeightsAutomatically = `false`
	)

Constructor

References MAL_MATRIX_RESIZE.

PreviewControl::~PreviewControl ( )

Destructor

Member Function Documentation

void PreviewControl::CallMethod	(	std::string &	Method,
		std::istringstream &	astrm
	)		`[virtual]`

Overloading method of SimplePlugin.

References ComputeOptimalWeights(), PatternGeneratorJRL::OptimalControllerSolver::MODE_WITH_INITIALPOS, PatternGeneratorJRL::OptimalControllerSolver::MODE_WITHOUT_INITIALPOS, SetHeightOfCoM(), SetPreviewControlTime(), and SetSamplingPeriod().

void PreviewControl::ComputeOptimalWeights ( unsigned int mode )

Compute optimal weights.

Parameters:

[in] mode,: with initial pos (OptimalControllerSolver::MODE_WITH_INITIALPOS), without initial position (OptimalControllerSolver::MODE_WITHOUT_INITIALPOS).

Solver to compute optimal weights

References PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), PatternGeneratorJRL::OptimalControllerSolver::GetF(), PatternGeneratorJRL::OptimalControllerSolver::GetK(), MAL_MATRIX_DIM, MAL_MATRIX_FILL, MAL_MATRIX_RESIZE, MAL_MATRIX_TYPE, MAL_RET_A_by_B, PatternGeneratorJRL::OptimalControllerSolver::MODE_WITH_INITIALPOS, and PatternGeneratorJRL::OptimalControllerSolver::MODE_WITHOUT_INITIALPOS.

Referenced by CallMethod(), SetHeightOfCoM(), SetPreviewControlTime(), SetSamplingPeriod(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::Setup().

double PreviewControl::GetHeightOfCoM ( ) const

Getter for the height position of the CoM.

bool PreviewControl::IsCoherent ( )

Indicates if the weights are coherent with the parameters.

int PreviewControl::OneIterationOfPreview	(	MAL_MATRIX &,	double,
		MAL_MATRIX &,	double,
		double &	sxzmp,
		double &	syzmp,
		deque< PatternGeneratorJRL::ZMPPosition > &	ZMPPositions,
		unsigned int	lindex,
		double &	zmpx2,
		double &	zmpy2,
		bool	Simulation
	)

One iteration of the preview control.

References MAL_MATRIX, MAL_MATRIX_DIM, MAL_RET_A_by_B, and x.

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CreateExtraCOMBuffer(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl().

int PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D	(	MAL_MATRIX &,	double,
		double &	sxzmp,
		deque< double > &	ZMPPositions,
		unsigned int	lindex,
		double &	zmpx2,
		bool	Simulation
	)

One iteration of the preview control along one axis (using queues)

int PatternGeneratorJRL::PreviewControl::OneIterationOfPreview1D	(	MAL_MATRIX &,	double,
		double &	sxzmp,
		vector< double > &	ZMPPositions,
		unsigned int	lindex,
		double &	zmpx2,
		bool	Simulation
	)

One iteration of the preview control along one axis (using vectors)

Parameters:

[in]	out]	x: Current state of the CoM along the axis.
[in]	out]	sxzmp: Summed error.
[in]	ZMPPositions,:	Vector of ZMP reference positions.
[in]	lindex,:	Starting index in the array of ZMP reference positions.
[out]	zmpx2,:	Resulting ZMP value.
[in]	Simulation,:	This should be set to false.