mc_planning::Pendulum Struct Reference

#include <mc_planning/Pendulum.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Pendulum ()
	Creates an empty pendulum. Call reset. More...
	Pendulum (double lamda, const Eigen::Vector3d &com=Eigen::Vector3d::Zero(), const Eigen::Vector3d &comd=Eigen::Vector3d::Zero(), const Eigen::Vector3d &comdd=Eigen::Vector3d::Zero())
void	completeIPM (const Eigen::Vector3d &p, const Eigen::Vector3d &n)
void	integrateCoMJerk (const Eigen::Vector3d &comddd, double dt)
void	integrateIPM (Eigen::Vector3d zmp, double lambda, double dt)
void	reset (double lambda, const Eigen::Vector3d &com, const Eigen::Vector3d &comd=Eigen::Vector3d::Zero(), const Eigen::Vector3d &comdd=Eigen::Vector3d::Zero())
void	resetCoMHeight (double height, const Eigen::Vector3d &p, const Eigen::Vector3d &n)
const Eigen::Vector3d &	com () const
const Eigen::Vector3d &	comd () const
const Eigen::Vector3d &	comdd () const
Eigen::Vector3d	dcm () const
double	omega () const
const Eigen::Vector3d &	zmp () const
const Eigen::Vector3d &	zmpd () const

Protected Attributes
Eigen::Vector3d	com_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	comd_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	comdd_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	comddd_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	zmp_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	zmpd_ = Eigen::Vector3d::Zero()
double	omega_ = 0

Detailed Description

State of the inverted pendulum model.

Constructor & Destructor Documentation

Pendulum() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mc_planning::Pendulum::Pendulum

(

)

Creates an empty pendulum. Call reset.

Call reset(double, const Eigen::Vector3d &, const Eigen::Vector3d &, const Eigen::Vector3d &) before use

Pendulum() [2/2]

mc_planning::Pendulum::Pendulum	(	double	lamda,
		const Eigen::Vector3d &	com = Eigen::Vector3d::Zero(),
		const Eigen::Vector3d &	comd = Eigen::Vector3d::Zero(),
		const Eigen::Vector3d &	comdd = Eigen::Vector3d::Zero()
	)

Initialize state from CoM position and its derivatives.

Parameters

lambda	Pendulum constant. lambda = gravity/(height above ground)
com	CoM position.
comd	CoM velocity.
comdd	CoM acceleration.

Member Function Documentation

com()

const Eigen::Vector3d& mc_planning::Pendulum::com ( ) const

inline

CoM position in the world frame.

comd()

const Eigen::Vector3d& mc_planning::Pendulum::comd ( ) const

inline

CoM velocity in the world frame.

comdd()

const Eigen::Vector3d& mc_planning::Pendulum::comdd ( ) const

inline

CoM acceleration in the world frame.

completeIPM()

void mc_planning::Pendulum::completeIPM	(	const Eigen::Vector3d &	p,
		const Eigen::Vector3d &	n
	)

Complete inverted pendulum inputs (ZMP and natural frequency) from contact plane.

Parameters

p,n	Contact plane in which the ZMP is considered.

Note

The current CoM position and acceleration are used to compute the ZMP in the desired plane.

dcm()

Eigen::Vector3d mc_planning::Pendulum::dcm ( ) const

inline

Divergent component of motion.

integrateCoMJerk()

void mc_planning::Pendulum::integrateCoMJerk	(	const Eigen::Vector3d &	comddd,
		double	dt
	)

Integrate constant CoM jerk for a given duration.

Parameters

comddd	CoM jerk.
dt	Integration step.

integrateIPM()

void mc_planning::Pendulum::integrateIPM	(	Eigen::Vector3d	zmp,
		double	lambda,
		double	dt
	)

Integrate in floating-base inverted pendulum mode with constant inputs.

Parameters

zmp	Zero-tilting Moment Point, i.e. net force application point.
lambda	Normalized stiffness of the pendulum.
dt	Duration of integration step.

omega()

double mc_planning::Pendulum::omega ( ) const

inline

Natural frequency.

reset()

void mc_planning::Pendulum::reset	(	double	lambda,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comd = Eigen::Vector3d::Zero(),
		const Eigen::Vector3d &	comdd = Eigen::Vector3d::Zero()
	)

Reset to a new state from CoM position and its derivatives.

Parameters

lambda	Pendulum constant. lambda = gravity/(height above ground)
com	CoM position.
comd	CoM velocity.
comdd	CoM acceleration.

resetCoMHeight()

void mc_planning::Pendulum::resetCoMHeight	(	double	height,
		const Eigen::Vector3d &	p,
		const Eigen::Vector3d &	n
	)

Reset CoM height above a given contact plane.

Parameters

height	CoM height above contact plane.
(p,n)	Contact plane defined by a point on the surface and its normal

zmp()

const Eigen::Vector3d& mc_planning::Pendulum::zmp ( ) const

inline

Zero-tilting moment point.

Note

In the linear inverted pendulum mode, the ZMP coincides with the centroidal moment pivot (CMP) or its extended version (eCMP).

zmpd()

const Eigen::Vector3d& mc_planning::Pendulum::zmpd ( ) const

inline

Velocity of the zero-tilting moment point.

Member Data Documentation

com_

Eigen::Vector3d mc_planning::Pendulum::com_ = Eigen::Vector3d::Zero()

protected

Position of the center of mass

comd_

Eigen::Vector3d mc_planning::Pendulum::comd_ = Eigen::Vector3d::Zero()

protected

Velocity of the center of mass

comdd_

Eigen::Vector3d mc_planning::Pendulum::comdd_ = Eigen::Vector3d::Zero()

protected

Acceleration of the center of mass

comddd_

Eigen::Vector3d mc_planning::Pendulum::comddd_ = Eigen::Vector3d::Zero()

protected

Jerk of the center of mass

omega_

double mc_planning::Pendulum::omega_ = 0

protected

Natural frequency in [Hz]

zmp_

Eigen::Vector3d mc_planning::Pendulum::zmp_ = Eigen::Vector3d::Zero()

protected

Position of the zero-tilting moment point

zmpd_

Eigen::Vector3d mc_planning::Pendulum::zmpd_ = Eigen::Vector3d::Zero()

protected

Velocity of the zero-tilting moment point

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

• include/mc_planning/Pendulum.h