#include <mc_tasks/lipm_stabilizer/StabilizerTask.h>

Inheritance diagram for mc_tasks::lipm_stabilizer::StabilizerTask:

Collaboration diagram for mc_tasks::lipm_stabilizer::StabilizerTask:

Classes
struct	EnumClassHash
	Workaround a C++11 standard bug: no specialization of the hash functor exists for enum types. Fixed in GCC 6.1 and clang's libc++ in 2013. More...

struct	ExternalWrench
	External wrench. More...

Public Member Functions
	StabilizerTask (const mc_rbdyn::Robots &robots, const mc_rbdyn::Robots &realRobots, unsigned int robotIndex, const std::string &leftSurface, const std::string &rightSurface, const std::string &torsoBodyName, double dt)
	Creates a stabilizer meta task. More...

	StabilizerTask (const mc_rbdyn::Robots &robots, const mc_rbdyn::Robots &realRobots, unsigned int robotIndex, double dt)
	Creates a stabilizer meta task. More...

void	name (const std::string &name) override

void	reset () override
	Resets the stabilizer tasks and parameters to their default configuration. More...

Eigen::VectorXd	eval () const override
	Returns the task error. More...

Eigen::VectorXd	speed () const override
	Returns the task velocity. More...

void	enable ()
	Enables stabilizer. More...

void	disable ()

void	configure (const StabilizerConfiguration &config)

void	commitConfig ()
	Use the current configuration as the new default. More...

void	load (mc_solver::QPSolver &, const mc_rtc::Configuration &config) override
	Load targets and contacts from configuration. More...

const StabilizerConfiguration &	config () const
	Get current stabilizer's configuration (including changes from GUI/code) More...

const StabilizerConfiguration &	commitedConfig () const
	Get last commited configuration. More...

void	reconfigure ()

void	run ()

void	setContacts (const ContactDescriptionVector &contacts)

void	setContacts (const std::vector< std::pair< ContactState, sva::PTransformd >> &contacts)
	Helper to set contacts with a provided target pose. More...

void	setContacts (const std::vector< ContactState > &contacts)

const sva::PTransformd &	contactAnklePose (ContactState s) const
	Projected pose of the ankle frame in the contact frame. More...

const std::string &	footSurface (ContactState s) const

double	leftFootRatio () const noexcept
	Interpolation paremeter between left and right foot. More...

sva::PTransformd	anchorFrame (const mc_rbdyn::Robot &robot) const
	computes the anchorFrame compatible with the state observers (e.g KinematicInertial) More...

void	staticTarget (const Eigen::Vector3d &com, double zmpHeight=0)

void	target (const Eigen::Vector3d &com, const Eigen::Vector3d &comd, const Eigen::Vector3d &comdd, const Eigen::Vector3d &zmp, const Eigen::Vector3d &zmpd=Eigen::Vector3d::Zero())
	Provides a dynamic target to the stabilizer. More...

const Eigen::Vector3d &	targetCoMRaw () const noexcept
	Return the raw CoM target as provided by target(). More...

const Eigen::Vector3d &	targetCoM () const noexcept
	Returns the CoM target used for stabilization. More...

const Eigen::Vector3d &	targetCoMVelocity () const noexcept

const Eigen::Vector3d &	targetCoMAcceleration () const noexcept

const Eigen::Vector3d &	targetZMP () const noexcept

const Eigen::Vector3d &	targetZMPVelocity () const noexcept

ContactState	supportFoot () const noexcept

void	supportFoot (const ContactState &foot) noexcept

void	horizonReference (const std::vector< Eigen::Vector2d > &ref, const double delta) noexcept
	Set the reference zmp sequence to distribute between the CoP task (Only in double support) More...

void	setExternalWrenches (const std::vector< std::string > &surfaceNames, const std::vector< sva::ForceVecd > &targetWrenches, const std::vector< sva::MotionVecd > &gains)
	Set the wrench that the robot expects to receive from the external contacts. More...

const std::vector< ExternalWrench > &	externalWrenches () const noexcept

const Eigen::Vector3d &	distribZMP () const noexcept

const Eigen::Vector3d &	measuredDCM () noexcept

const Eigen::Vector2d	biasDCM () noexcept

Eigen::Vector2d	filteredDCM () const noexcept

const Eigen::Vector3d &	measuredZMP () noexcept

const Eigen::Vector3d &	measuredCoM () noexcept

const Eigen::Vector3d &	measuredCoMd () noexcept

const Eigen::Vector3d &	measuredFilteredNetForces () const noexcept

const Eigen::Vector3d &	comOffsetTarget () noexcept

const Eigen::Vector3d &	comOffsetMeasured () const noexcept

double	zmpCoeffMeasured () const noexcept

bool	inContact (ContactState state) const noexcept

bool	inDoubleSupport () const noexcept

const mc_rbdyn::Robot &	robot () const noexcept

const mc_rbdyn::Robot &	realRobot () const noexcept

virtual void	name (const std::string &name)

const std::string &	name () const

Public Member Functions inherited from mc_tasks::MetaTask
	MetaTask ()

virtual	~MetaTask ()

const std::string &	type () const

const std::string &	name () const

size_t	iterInSolver () const noexcept
	Get the number of iterations since the task was added to the solver. More...

void	resetIterInSolver () noexcept
	Set the number of iterations since the task was added to the solver to zero. More...

void	incrementIterInSolver () noexcept
	Increment the number of iterations since the task was added to the solver. More...

Backend	backend () const noexcept

Protected Attributes
mc_filter::ExponentialMovingAverage< Eigen::Vector3d >	dcmIntegrator_

mc_filter::LowPassCompose< Eigen::Vector3d >	dcmDerivator_

bool	inTheAir_ = false

bool	wasInTheAir_ = false

bool	wasEnabled_ = true

Eigen::Vector3d	dfForceError_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	dfError_ = Eigen::Vector3d::Zero()

double	dt_ = 0.005

double	leftFootRatio_ = 0.5

double	mass_ = 38.

double	runTime_ = 0.

double	vdcHeightError_ = 0

sva::ForceVecd	desiredWrench_ = sva::ForceVecd::Zero()

sva::ForceVecd	distribWrench_ = sva::ForceVecd::Zero()

Eigen::Vector3d	distribZMP_

sva::PTransformd	zmpFrame_ = sva::PTransformd::Identity()

std::vector< Eigen::Vector2d >	horizonZmpRef_

double	horizonDelta_ = 0.05

bool	horizonCoPDistribution_ = false

bool	horizonRefUpdated_ = false

Eigen::Vector2d	modeledCoPLeft_ = Eigen::Vector2d::Zero()

Eigen::Vector2d	modeledCoPRight_ = Eigen::Vector2d::Zero()

Eigen::Vector2d	delayedTargetCoPLeft_ = Eigen::Vector2d::Zero()

Eigen::Vector2d	delayedTargetCoPRight_ = Eigen::Vector2d::Zero()

double	delayedTargetFzLeft_ = 0

double	delayedTargetFzRight_ = 0

double	tComputation_ = 0.

double	modeledFzRight_ = 0.

double	modeledFzLeft_ = 0.

double	desiredFzLeft_ = 0.

double	desiredFzRight_ = 0.

Eigen::Vector2d	QPCoPLeft_

Eigen::Vector2d	QPCoPRight_

Eigen::Vector2d	distribCheck_ = Eigen::Vector2d::Zero()

mc_filter::LowPass< Eigen::Vector3d >	fSumFilter_

ContactState	supportFoot_ = ContactState::Left

Members related to stabilization in the presence of external wrenches
Adding an offset to the CoM for the predictable / measurable external wrenches on the robot surface.
std::vector< ExternalWrench >	extWrenches_

sva::ForceVecd	extWrenchSumTarget_ = sva::ForceVecd::Zero()

sva::ForceVecd	extWrenchSumMeasured_ = sva::ForceVecd::Zero()

Eigen::Vector3d	comOffsetTarget_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	comOffsetMeasured_ = Eigen::Vector3d::Zero()

double	zmpCoefTarget_ = 1

double	zmpCoefMeasured_ = 1

Eigen::Vector3d	comOffsetErr_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	comOffsetErrCoM_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	comOffsetErrZMP_ = Eigen::Vector3d::Zero()

mc_filter::LowPass< sva::ForceVecd >	extWrenchSumLowPass_

mc_filter::LowPass< Eigen::Vector3d >	comOffsetLowPass_

mc_filter::LowPass< Eigen::Vector3d >	comOffsetLowPassCoM_

mc_filter::StationaryOffset< Eigen::Vector3d >	comOffsetDerivator_

Protected Attributes inherited from mc_tasks::MetaTask
Backend	backend_

std::string	type_

std::string	name_

size_t	iterInSolver_ = 0

Setters to reconfigure the stabilizer online
Setters for the main parameters of the stabilizer. For safety purposes, values are clamped against the maximum values defined by the stabilizer configuration. See also StabilizerConfiguration for details on each of these parameters. config() Access the current stabilizer configuration values commitConfig() Make the current configuration the new default
std::unordered_map< ContactState, internal::Contact, EnumClassHash, std::equal_to< ContactState >, Eigen::aligned_allocator< std::pair< const ContactState, internal::Contact > > >	contacts_

std::vector< ContactState >	addContacts_

std::unordered_map< ContactState, std::shared_ptr< mc_tasks::force::CoPTask >, EnumClassHash >	footTasks

std::vector< std::shared_ptr< mc_tasks::force::CoPTask > >	contactTasks

std::vector< std::string >	contactSensors

std::vector< std::vector< Eigen::Vector3d > >	supportPolygons_

Eigen::Vector2d	supportMin_ = Eigen::Vector2d::Zero()

Eigen::Vector2d	supportMax_ = Eigen::Vector2d::Zero()

std::shared_ptr< mc_tasks::CoMTask >	comTask

std::shared_ptr< mc_tasks::OrientationTask >	pelvisTask

std::shared_ptr< mc_tasks::OrientationTask >	torsoTask

const mc_rbdyn::Robots &	robots_

const mc_rbdyn::Robots &	realRobots_

unsigned int	robotIndex_

Eigen::Vector3d	comTargetRaw_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	comTarget_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	comdTarget_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	comddTarget_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	zmpTarget_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	zmpdTarget_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	dcmTarget_ = Eigen::Vector3d::Zero()

double	omega_ = 3.4

double	t_ = 0.

StabilizerConfiguration	defaultConfig_

StabilizerConfiguration	lastConfig_

StabilizerConfiguration	disableConfig_

StabilizerConfiguration	c_

bool	reconfigure_ = true

bool	enabled_ = true

Eigen::QuadProgDense	qpSolver_

Eigen::Vector3d	dcmAverageError_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	dcmError_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	dcmVelError_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	measuredCoM_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	measuredCoMd_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	measuredCoMdd_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	measuredZMP_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	measuredDCM_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	measuredDCMUnbiased_ = Eigen::Vector3d::Zero()
	Measured DCM (only used for logging) More...

Eigen::Vector3d	measuredCoMUnbiased_ = Eigen::Vector3d::Zero()
	DCM unbiased (only used for logging) More...

sva::ForceVecd	measuredNetWrench_ = sva::ForceVecd::Zero()
	CoM unbiased (only used for logging) More...

bool	zmpccOnlyDS_ = true

ZMPCC	zmpcc_

stateObservation::LipmDcmEstimator	dcmEstimator_

bool	dcmEstimatorNeedsReset_ = true

void	torsoPitch (double pitch) noexcept

double	omega () const

void	torsoWeight (double weight) noexcept

void	torsoStiffness (double stiffness) noexcept

void	pelvisWeight (double weight) noexcept

void	pelvisStiffness (double stiffness) noexcept

void	dcmGains (double p, double i, double d) noexcept

void	dcmGains (const Eigen::Vector2d &p, const Eigen::Vector2d &i, const Eigen::Vector2d &d) noexcept

void	dcmIntegratorTimeConstant (double dcmIntegratorTimeConstant) noexcept

MC_RTC_DEPRECATED void	dcmDerivatorTimeConstant (double T) noexcept

void	dcmDerivatorCutoffPeriod (double T) noexcept

void	extWrenchSumLowPassCutoffPeriod (double cutoffPeriod) noexcept

void	comOffsetLowPassCutoffPeriod (double cutoffPeriod) noexcept

void	comOffsetLowPassCoMCutoffPeriod (double cutoffPeriod) noexcept

void	comOffsetDerivatorTimeConstant (double timeConstant) noexcept

void	comWeight (double weight) noexcept

void	comStiffness (const Eigen::Vector3d &stiffness) noexcept

void	contactWeight (double weight) noexcept

void	contactStiffness (const sva::MotionVecd &stiffness) noexcept

void	contactDamping (const sva::MotionVecd &damping) noexcept

void	copAdmittance (const Eigen::Vector2d &copAdmittance) noexcept

void	copMaxVel (const sva::MotionVecd &copMaxVel) noexcept

void	copVelFilterGain (double gain) noexcept

double	copVelFilterGain () const noexcept

void	vdcFrequency (double freq) noexcept

void	vdcStiffness (double stiffness) noexcept

void	dfAdmittance (Eigen::Vector3d dfAdmittance) noexcept

void	dfDamping (Eigen::Vector3d dfDamping) noexcept

void	fdqpWeights (const FDQPWeights &fdqp) noexcept

void	safetyThresholds (const SafetyThresholds &thresholds) noexcept
	Changes the safety thresholds. More...

void	dcmBiasEstimatorConfiguration (const DCMBiasEstimatorConfiguration &biasConfig) noexcept
	Changes the parameters of the DCM bias estimator. More...

const DCMBiasEstimatorConfiguration &	dcmBiasEstimatorConfiguration () const noexcept
	Get parameters of the DCM bias estimator. More...

void	externalWrenchConfiguration (const ExternalWrenchConfiguration &extWrenchConfig) noexcept
	Changes the parameters for the external wrenches. More...

const ExternalWrenchConfiguration &	externalWrenchConfiguration () const noexcept
	Get the parameters for the external wrenches. More...

void	addToSolver (mc_solver::QPSolver &solver) override

void	removeFromSolver (mc_solver::QPSolver &solver) override

void	removeFromGUI (mc_rtc::gui::StateBuilder &) override

void	update (mc_solver::QPSolver &) override

void	addToLogger (mc_rtc::Logger &) override

void	removeFromLogger (mc_rtc::Logger &) override

void	addToGUI (mc_rtc::gui::StateBuilder &) override

void	configure_ (mc_solver::QPSolver &solver)
	Actual configuration of the stabilizer. Called when reconfigure_ is true. More...

void	disable_ ()

void	checkConfiguration (const StabilizerConfiguration &config)

Additional Inherited Members
Public Types inherited from mc_tasks::MetaTask
using	Backend = mc_solver::QPSolver::Backend

Protected Member Functions inherited from mc_tasks::MetaTask
virtual std::function< bool(const mc_tasks::MetaTask &task, std::string &)>	buildCompletionCriteria (double dt, const mc_rtc::Configuration &config) const

Static Protected Member Functions inherited from mc_tasks::MetaTask
static void	addToSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	removeFromSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	update (MetaTask &t, mc_solver::QPSolver &solver)

static void	addToLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	removeFromLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	addToGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	removeFromGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	ensureHasJoints (const mc_rbdyn::Robot &robot, const std::vector< std::string > &joints, const std::string &prefix)

Detailed Description

Walking stabilization based on linear inverted pendulum tracking.

Stabilization bridges the gap between the open-loop behavior of the pendulum state reference (feedforward controls) and feedback read from state estimation. In our case, feedback is done on the DCM of the LIPM:

\[ \dot{\xi} = \dot{\xi}^{d} + k_p (\xi^d - \xi) + k_i \int (\xi^d - \xi) \]

Which boils down into corresponding formulas for the CoP and CoM acceleration targets.

Constructor & Destructor Documentation

◆ StabilizerTask() [1/2]

mc_tasks::lipm_stabilizer::StabilizerTask::StabilizerTask	(	const mc_rbdyn::Robots &	robots,
		const mc_rbdyn::Robots &	realRobots,
		unsigned int	robotIndex,
		const std::string &	leftSurface,
		const std::string &	rightSurface,
		const std::string &	torsoBodyName,
		double	dt
	)

Creates a stabilizer meta task.

Parameters

robots	Robots on which the task acts
realRobots	Corresponding real robot instances
robotIndex	Index of the robot to stabilize
leftSurface	Left foot surface name. Its origin should be the center of the foot sole
rightSurface	Left foot surface name. Its origin should be the center of the foot sole
torsoBodyName	Body name of the robot's torso (i.e a link above the floating base)
dt	Controller's timestep

◆ StabilizerTask() [2/2]

mc_tasks::lipm_stabilizer::StabilizerTask::StabilizerTask	(	const mc_rbdyn::Robots &	robots,
		const mc_rbdyn::Robots &	realRobots,
		unsigned int	robotIndex,
		double	dt
	)

Creates a stabilizer meta task.

This constructor uses the stabilizer configuration in the robot module associated to the controlled robot. The stabilizer is started with two feet contacts.

Parameters

robots	Robots on which the task acts
realRobots	Corresponding real robots instance
robotIndex	Index of the robot
dt	Controller's timestep

Member Function Documentation

◆ addToGUI()

void mc_tasks::lipm_stabilizer::StabilizerTask::addToGUI ( mc_rtc::gui::StateBuilder & )

overrideprotectedvirtual

Contacts to add to the QPSolver when the task is inserted

Reimplemented from mc_tasks::MetaTask.

◆ addToLogger()

void mc_tasks::lipm_stabilizer::StabilizerTask::addToLogger ( mc_rtc::Logger & )

overrideprotectedvirtual

Log stabilizer entries.

Parameters

logger Logger.

Reimplemented from mc_tasks::MetaTask.

◆ addToSolver()

void mc_tasks::lipm_stabilizer::StabilizerTask::addToSolver ( mc_solver::QPSolver & solver )

overrideprotectedvirtual

Contacts to add to the QPSolver when the task is inserted

Implements mc_tasks::MetaTask.

◆ anchorFrame()

sva::PTransformd mc_tasks::lipm_stabilizer::StabilizerTask::anchorFrame ( const mc_rbdyn::Robot & robot ) const

computes the anchorFrame compatible with the state observers (e.g KinematicInertial)

Parameters

robot Robot from which the frame will be computed

Returns: Anchor frame in-between the feet according to leftFootRatio()

◆ biasDCM()

const Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::biasDCM ( )

inlinenoexcept

◆ checkConfiguration()

void mc_tasks::lipm_stabilizer::StabilizerTask::checkConfiguration ( const StabilizerConfiguration & config )

protected

Ensures that the configuration is valid

◆ commitConfig()

void mc_tasks::lipm_stabilizer::StabilizerTask::commitConfig ( )

Use the current configuration as the new default.

◆ commitedConfig()

const StabilizerConfiguration& mc_tasks::lipm_stabilizer::StabilizerTask::commitedConfig ( ) const

Get last commited configuration.

Commited configuration is corresponds to the latest one set by calling commitConfig(), either manually or from the GUI.

See also: config()

◆ comOffsetDerivatorTimeConstant()

void mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetDerivatorTimeConstant ( double timeConstant )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ comOffsetLowPassCoMCutoffPeriod()

void mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetLowPassCoMCutoffPeriod ( double cutoffPeriod )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ comOffsetLowPassCutoffPeriod()

void mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetLowPassCutoffPeriod ( double cutoffPeriod )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ comOffsetMeasured()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetMeasured ( ) const

inlinenoexcept

◆ comOffsetTarget()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetTarget ( )

inlinenoexcept

◆ comStiffness()

void mc_tasks::lipm_stabilizer::StabilizerTask::comStiffness ( const Eigen::Vector3d & stiffness )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ comWeight()

void mc_tasks::lipm_stabilizer::StabilizerTask::comWeight ( double weight )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ config()

const StabilizerConfiguration& mc_tasks::lipm_stabilizer::StabilizerTask::config ( ) const

Get current stabilizer's configuration (including changes from GUI/code)

See also: commitedConfig()

◆ configure()

void mc_tasks::lipm_stabilizer::StabilizerTask::configure ( const StabilizerConfiguration & config )

Configure stabilizer's parameters from a stabilizer's configuration object

Parameters

config Stabilizer configuration. Default values can be found in the RobotModule, and modified from YAML configuration or manually.

See also: load(mc_solver::QPSolver &, const mc_rtc::Configuration &) to set stabilizer targets and contacts from configuration

◆ configure_()

void mc_tasks::lipm_stabilizer::StabilizerTask::configure_ ( mc_solver::QPSolver & solver )

protected

Actual configuration of the stabilizer. Called when reconfigure_ is true.

Parameters

solver Solver to which this task has been added

◆ contactAnklePose()

const sva::PTransformd& mc_tasks::lipm_stabilizer::StabilizerTask::contactAnklePose ( ContactState s ) const

inline

Projected pose of the ankle frame in the contact frame.

Parameters

s	Contact for which the frame is requested

Returns: The projected ankle frame expressed in world frame.

◆ contactDamping()

void mc_tasks::lipm_stabilizer::StabilizerTask::contactDamping ( const sva::MotionVecd & damping )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ contactStiffness()

void mc_tasks::lipm_stabilizer::StabilizerTask::contactStiffness ( const sva::MotionVecd & stiffness )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ contactWeight()

void mc_tasks::lipm_stabilizer::StabilizerTask::contactWeight ( double weight )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ copAdmittance()

void mc_tasks::lipm_stabilizer::StabilizerTask::copAdmittance ( const Eigen::Vector2d & copAdmittance )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ copMaxVel()

void mc_tasks::lipm_stabilizer::StabilizerTask::copMaxVel ( const sva::MotionVecd & copMaxVel )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ copVelFilterGain() [1/2]

double mc_tasks::lipm_stabilizer::StabilizerTask::copVelFilterGain ( ) const

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ copVelFilterGain() [2/2]

void mc_tasks::lipm_stabilizer::StabilizerTask::copVelFilterGain ( double gain )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ dcmBiasEstimatorConfiguration() [1/2]

const DCMBiasEstimatorConfiguration& mc_tasks::lipm_stabilizer::StabilizerTask::dcmBiasEstimatorConfiguration ( ) const

inlinenoexcept

Get parameters of the DCM bias estimator.

◆ dcmBiasEstimatorConfiguration() [2/2]

void mc_tasks::lipm_stabilizer::StabilizerTask::dcmBiasEstimatorConfiguration ( const DCMBiasEstimatorConfiguration & biasConfig )

inlinenoexcept

Changes the parameters of the DCM bias estimator.

Parameters

biasConfig Configuration parameters for the bias estimation

◆ dcmDerivatorCutoffPeriod()

void mc_tasks::lipm_stabilizer::StabilizerTask::dcmDerivatorCutoffPeriod ( double T )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ dcmDerivatorTimeConstant()

MC_RTC_DEPRECATED void mc_tasks::lipm_stabilizer::StabilizerTask::dcmDerivatorTimeConstant ( double T )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ dcmGains() [1/2]

void mc_tasks::lipm_stabilizer::StabilizerTask::dcmGains	(	const Eigen::Vector2d &	p,
		const Eigen::Vector2d &	i,
		const Eigen::Vector2d &	d
	)

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ dcmGains() [2/2]

void mc_tasks::lipm_stabilizer::StabilizerTask::dcmGains	(	double	p,
		double	i,
		double	d
	)

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ dcmIntegratorTimeConstant()

void mc_tasks::lipm_stabilizer::StabilizerTask::dcmIntegratorTimeConstant ( double dcmIntegratorTimeConstant )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ dfAdmittance()

void mc_tasks::lipm_stabilizer::StabilizerTask::dfAdmittance ( Eigen::Vector3d dfAdmittance )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ dfDamping()

void mc_tasks::lipm_stabilizer::StabilizerTask::dfDamping ( Eigen::Vector3d dfDamping )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ disable()

void mc_tasks::lipm_stabilizer::StabilizerTask::disable ( )

Disable all feedback components.

◆ disable_()

void mc_tasks::lipm_stabilizer::StabilizerTask::disable_ ( )

protected

Contacts to add to the QPSolver when the task is inserted

◆ distribZMP()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::distribZMP ( ) const

inlinenoexcept

◆ enable()

void mc_tasks::lipm_stabilizer::StabilizerTask::enable ( )

Enables stabilizer.

This will reinitialize all integrators, and set the stabilizer gains according to the last call to configure()

◆ eval()

Eigen::VectorXd mc_tasks::lipm_stabilizer::StabilizerTask::eval ( ) const

overridevirtual

Returns the task error.

Since the StabilizerTask is a MetaTask, the vector is a concatenation of each sub-tasks. The vector's dimensions depend on the underlying task, and the sub-tasks evaluation depends on their order of insertion.

Implements mc_tasks::MetaTask.

◆ externalWrenchConfiguration() [1/2]

const ExternalWrenchConfiguration& mc_tasks::lipm_stabilizer::StabilizerTask::externalWrenchConfiguration ( ) const

inlinenoexcept

Get the parameters for the external wrenches.

◆ externalWrenchConfiguration() [2/2]

void mc_tasks::lipm_stabilizer::StabilizerTask::externalWrenchConfiguration ( const ExternalWrenchConfiguration & extWrenchConfig )

inlinenoexcept

Changes the parameters for the external wrenches.

Parameters

extWrenchConfig Configuration parameters for the external wrenches

◆ externalWrenches()

const std::vector<ExternalWrench>& mc_tasks::lipm_stabilizer::StabilizerTask::externalWrenches ( ) const

inlinenoexcept

◆ extWrenchSumLowPassCutoffPeriod()

void mc_tasks::lipm_stabilizer::StabilizerTask::extWrenchSumLowPassCutoffPeriod ( double cutoffPeriod )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ fdqpWeights()

void mc_tasks::lipm_stabilizer::StabilizerTask::fdqpWeights ( const FDQPWeights & fdqp )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ filteredDCM()

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::filteredDCM ( ) const

inlinenoexcept

◆ footSurface()

const std::string& mc_tasks::lipm_stabilizer::StabilizerTask::footSurface ( ContactState s ) const

inline

◆ horizonReference()

void mc_tasks::lipm_stabilizer::StabilizerTask::horizonReference	(	const std::vector< Eigen::Vector2d > &	ref,
		const double	delta
	)

inlinenoexcept

Set the reference zmp sequence to distribute between the CoP task (Only in double support)

It is advised to provide the future support foot name when using this method using the supportFoot method

Parameters

ref	Reference zmp sequence
delta	Sequence sampling time

◆ inContact()

bool mc_tasks::lipm_stabilizer::StabilizerTask::inContact ( ContactState state ) const

inlinenoexcept

◆ inDoubleSupport()

bool mc_tasks::lipm_stabilizer::StabilizerTask::inDoubleSupport ( ) const

inlinenoexcept

◆ leftFootRatio()

double mc_tasks::lipm_stabilizer::StabilizerTask::leftFootRatio ( ) const

inlinenoexcept

Interpolation paremeter between left and right foot.

Returns: Left foot ratio between [0,1]

◆ load()

void mc_tasks::lipm_stabilizer::StabilizerTask::load	(	mc_solver::QPSolver &	,
		const mc_rtc::Configuration &	config
	)

overridevirtual

Load targets and contacts from configuration.

Reimplemented from mc_tasks::MetaTask.

◆ measuredCoM()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::measuredCoM ( )

inlinenoexcept

◆ measuredCoMd()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::measuredCoMd ( )

inlinenoexcept

◆ measuredDCM()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::measuredDCM ( )

inlinenoexcept

◆ measuredFilteredNetForces()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::measuredFilteredNetForces ( ) const

inlinenoexcept

◆ measuredZMP()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::measuredZMP ( )

inlinenoexcept

◆ name() [1/3]

const std::string& mc_tasks::MetaTask::name

inline

Get the name of the task

◆ name() [2/3]

virtual void mc_tasks::MetaTask::name

inline

Set a name for the task

This name will be used to identify the task in logs, GUI...

The name should be set before being added to the solver.

◆ name() [3/3]

void mc_tasks::lipm_stabilizer::StabilizerTask::name ( const std::string & name )

inlineoverridevirtual

Set a name for the task

This name will be used to identify the task in logs, GUI...

The name should be set before being added to the solver.

Reimplemented from mc_tasks::MetaTask.

◆ omega()

double mc_tasks::lipm_stabilizer::StabilizerTask::omega ( ) const

inline

Contacts to add to the QPSolver when the task is inserted

◆ pelvisStiffness()

void mc_tasks::lipm_stabilizer::StabilizerTask::pelvisStiffness ( double stiffness )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ pelvisWeight()

void mc_tasks::lipm_stabilizer::StabilizerTask::pelvisWeight ( double weight )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ realRobot()

const mc_rbdyn::Robot& mc_tasks::lipm_stabilizer::StabilizerTask::realRobot ( ) const

inlinenoexcept

◆ reconfigure()

void mc_tasks::lipm_stabilizer::StabilizerTask::reconfigure ( )

Reset stabilizer configuration from last configuration set by configure()

Does not include changes made from the GUI.

◆ removeFromGUI()

void mc_tasks::lipm_stabilizer::StabilizerTask::removeFromGUI ( mc_rtc::gui::StateBuilder & )

overrideprotectedvirtual

Contacts to add to the QPSolver when the task is inserted

Reimplemented from mc_tasks::MetaTask.

◆ removeFromLogger()

void mc_tasks::lipm_stabilizer::StabilizerTask::removeFromLogger ( mc_rtc::Logger & )

overrideprotectedvirtual

Contacts to add to the QPSolver when the task is inserted

Reimplemented from mc_tasks::MetaTask.

◆ removeFromSolver()

void mc_tasks::lipm_stabilizer::StabilizerTask::removeFromSolver ( mc_solver::QPSolver & solver )

overrideprotectedvirtual

Contacts to add to the QPSolver when the task is inserted

Implements mc_tasks::MetaTask.

◆ reset()

void mc_tasks::lipm_stabilizer::StabilizerTask::reset ( )

overridevirtual

Resets the stabilizer tasks and parameters to their default configuration.

Resets all tasks and errors/integrator/derivators to their initial configuration. Configures the default stabilizer parameters from the robot module.

You can configure the stabilizer parameters (DCM tacking gains, task gains, etc) by calling configure(const StabilizerConfiguration & config)

Note: If you wish to reset the stabilizer from it's current configuration, you can do so by storing its current configuration as accessed by config() or commitedConfig() and set it explitely after calling reset by calling configure(const StabilizerConfiguration &);

Implements mc_tasks::MetaTask.

◆ robot()

const mc_rbdyn::Robot& mc_tasks::lipm_stabilizer::StabilizerTask::robot ( ) const

inlinenoexcept

◆ run()

void mc_tasks::lipm_stabilizer::StabilizerTask::run ( )

Update QP task targets.

This function is called once the reference has been updated.

◆ safetyThresholds()

void mc_tasks::lipm_stabilizer::StabilizerTask::safetyThresholds ( const SafetyThresholds & thresholds )

inlinenoexcept

Changes the safety thresholds.

This ensures that all the parameters depending on these safety parameters are within the new thresholds. If they are out of bounds, they will be clamped back to the new range, and a warning message will be displayed.

Parameters

thresholds New safety thresholds

◆ setContacts() [1/3]

void mc_tasks::lipm_stabilizer::StabilizerTask::setContacts ( const ContactDescriptionVector & contacts )

Configure foot tasks for contact at a given location, and add contacts to the solver.

Note: To use the stabilizer with dynamics constraint, you need to add the corresponding mc_rbdyn::Contact to the solver and free the roll/pitch rotation and z translation (in contact frame). This assumes the foot surfaces to have x pointing towards the front of the foot, and z from the ground up.

Parameters

solver The QP solver to which the contact tasks will be added. Note that this method will not add contact constraints to the QPSolver. If you wish to do so, bear in mind that for the stabilizer to work properly, the contact's dofs along the x and y rotations and z translation need to be free.

◆ setContacts() [2/3]

void mc_tasks::lipm_stabilizer::StabilizerTask::setContacts ( const std::vector< ContactState > & contacts )

Helper to set contacts from the current surface pose

Parameters

contacts Contacts to add. Their pose will be determined set from the realRobot estimate of the foot surface pose. Use with caution.

See also: void setContacts(mc_solver::QPSolver &, const std::vector<std::pair<ContactState, sva::PTransformd>> &);

◆ setContacts() [3/3]

void mc_tasks::lipm_stabilizer::StabilizerTask::setContacts ( const std::vector< std::pair< ContactState, sva::PTransformd >> & contacts )

Helper to set contacts with a provided target pose.

Parameters

contacts vectors of contacts defined by their ContactState and a desired pose

◆ setExternalWrenches()

void mc_tasks::lipm_stabilizer::StabilizerTask::setExternalWrenches	(	const std::vector< std::string > &	surfaceNames,
		const std::vector< sva::ForceVecd > &	targetWrenches,
		const std::vector< sva::MotionVecd > &	gains
	)

Set the wrench that the robot expects to receive from the external contacts.

Change the configurations in ExternalWrenchConfiguration to handle external wrenches because external wrenches are ignored by default.

See also: ExternalWrenchConfiguration

Parameters

surfaceNames	Names of the surface to which the external wrench is applied
targetWrenches	Target (expected) external wrenches
gains	Gains of measured external wrenches

◆ speed()

Eigen::VectorXd mc_tasks::lipm_stabilizer::StabilizerTask::speed ( ) const

overridevirtual

Returns the task velocity.

Since the StabilizerTask is a MetaTask, the vector is a concatenation of each sub-tasks. The vector's dimensions depend on the underlying task, and the sub-tasks evaluation depends on their order of insertion.

Implements mc_tasks::MetaTask.

◆ staticTarget()

void mc_tasks::lipm_stabilizer::StabilizerTask::staticTarget	(	const Eigen::Vector3d &	com,
		double	zmpHeight = `0`
	)

Provides a static target to the stabilizer.

CoM target : user-provided
CoM velocity target: zero (static)
CoM acceleration target: zero (static)
ZMP: computed under the CoM

Parameters

com	desired com position
zmpHeight[=0]	optional height of the ZMP plane (eg contacts), used to compute the pendulums omega.

See also: target for dynamic motions.

◆ supportFoot() [1/2]

ContactState mc_tasks::lipm_stabilizer::StabilizerTask::supportFoot ( ) const

inlinenoexcept

◆ supportFoot() [2/2]

void mc_tasks::lipm_stabilizer::StabilizerTask::supportFoot ( const ContactState & foot )

inlinenoexcept

◆ target()

void mc_tasks::lipm_stabilizer::StabilizerTask::target	(	const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comd,
		const Eigen::Vector3d &	comdd,
		const Eigen::Vector3d &	zmp,
		const Eigen::Vector3d &	zmpd = `Eigen::Vector3d::Zero()`
	)

Provides a dynamic target to the stabilizer.

Note that this target should be updated at each iteration and provide a dynamically-consistent trajectory. This would typically be generated by a compatible Model Preview Controller.

See https://github.com/jrl-umi3218/lipm_walking_controller for example in the context of walking.

Parameters

com	Desired CoM position
comd	Desired CoM velocity
comdd	Desired CoM acceleration
zmp	Desired ZMP
zmpd	Desired ZMP velocity (can be omitted when zmpdGain in StabilizerConfiguration is zero)

See also: staticTarget for a helper to define the stabilizer target when the CoM is static

◆ targetCoM()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::targetCoM ( ) const

inlinenoexcept

Returns the CoM target used for stabilization.

The stabilizer may modify the user-provided target targetCoMRaw() to compensate for external forces and/or bias. The target returned by this function thus corresponds to the actual target used by the stabilizer, and not the raw user provided target.

◆ targetCoMAcceleration()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::targetCoMAcceleration ( ) const

inlinenoexcept

◆ targetCoMRaw()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::targetCoMRaw ( ) const

inlinenoexcept

Return the raw CoM target as provided by target().

Warning: : Depending on the stabilizer configuration, this target may be modified by the stabilizer (to take into account bias and external forces).

See also: targetCoM()

◆ targetCoMVelocity()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::targetCoMVelocity ( ) const

inlinenoexcept

◆ targetZMP()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::targetZMP ( ) const

inlinenoexcept

◆ targetZMPVelocity()

const Eigen::Vector3d& mc_tasks::lipm_stabilizer::StabilizerTask::targetZMPVelocity ( ) const

inlinenoexcept

◆ torsoPitch()

void mc_tasks::lipm_stabilizer::StabilizerTask::torsoPitch ( double pitch )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ torsoStiffness()

void mc_tasks::lipm_stabilizer::StabilizerTask::torsoStiffness ( double stiffness )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ torsoWeight()

void mc_tasks::lipm_stabilizer::StabilizerTask::torsoWeight ( double weight )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ update()

void mc_tasks::lipm_stabilizer::StabilizerTask::update ( mc_solver::QPSolver & )

overrideprotectedvirtual

Contacts to add to the QPSolver when the task is inserted

Implements mc_tasks::MetaTask.

◆ vdcFrequency()

void mc_tasks::lipm_stabilizer::StabilizerTask::vdcFrequency ( double freq )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ vdcStiffness()

void mc_tasks::lipm_stabilizer::StabilizerTask::vdcStiffness ( double stiffness )

inlinenoexcept

Contacts to add to the QPSolver when the task is inserted

◆ zmpCoeffMeasured()

double mc_tasks::lipm_stabilizer::StabilizerTask::zmpCoeffMeasured ( ) const

inlinenoexcept

Member Data Documentation

◆ addContacts_

std::vector<ContactState> mc_tasks::lipm_stabilizer::StabilizerTask::addContacts_

protected

Contacts to add to the QPSolver when the task is inserted

◆ c_

StabilizerConfiguration mc_tasks::lipm_stabilizer::StabilizerTask::c_

protected

Whether the stabilizer needs to be reconfigured at the next update(solver) call

◆ comddTarget_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comddTarget_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ comdTarget_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comdTarget_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ comOffsetDerivator_

mc_filter::StationaryOffset<Eigen::Vector3d> mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetDerivator_

protected

Derivator of CoM offset

◆ comOffsetErr_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetErr_ = Eigen::Vector3d::Zero()

protected

CoM offset error

◆ comOffsetErrCoM_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetErrCoM_ = Eigen::Vector3d::Zero()

protected

CoM offset error handled by CoM modification

◆ comOffsetErrZMP_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetErrZMP_ = Eigen::Vector3d::Zero()

protected

CoM offset error handled by ZMP modification

◆ comOffsetLowPass_

mc_filter::LowPass<Eigen::Vector3d> mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetLowPass_

protected

Low-pass filter of CoM offset

◆ comOffsetLowPassCoM_

mc_filter::LowPass<Eigen::Vector3d> mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetLowPassCoM_

protected

Low-pass filter of CoM offset to extract CoM modification

◆ comOffsetMeasured_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetMeasured_ = Eigen::Vector3d::Zero()

protected

Measured CoM offset

◆ comOffsetTarget_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comOffsetTarget_ = Eigen::Vector3d::Zero()

protected

Target (expected) CoM offset

◆ comTarget_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comTarget_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ comTargetRaw_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::comTargetRaw_ = Eigen::Vector3d::Zero()

protected

Stabilizer targets

◆ comTask

std::shared_ptr<mc_tasks::CoMTask> mc_tasks::lipm_stabilizer::StabilizerTask::comTask

protected

Contacts to add to the QPSolver when the task is inserted

◆ contacts_

std::unordered_map<ContactState, internal::Contact, EnumClassHash, std::equal_to<ContactState>, Eigen::aligned_allocator<std::pair<const ContactState, internal::Contact> > > mc_tasks::lipm_stabilizer::StabilizerTask::contacts_

protected

Contacts to add to the QPSolver when the task is inserted

◆ contactSensors

std::vector<std::string> mc_tasks::lipm_stabilizer::StabilizerTask::contactSensors

protected

Foot tasks for the established contacts

◆ contactTasks

std::vector<std::shared_ptr<mc_tasks::force::CoPTask> > mc_tasks::lipm_stabilizer::StabilizerTask::contactTasks

protected

Contacts to add to the QPSolver when the task is inserted

◆ dcmAverageError_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::dcmAverageError_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ dcmDerivator_

mc_filter::LowPassCompose<Eigen::Vector3d> mc_tasks::lipm_stabilizer::StabilizerTask::dcmDerivator_

protected

◆ dcmError_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::dcmError_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ dcmEstimator_

stateObservation::LipmDcmEstimator mc_tasks::lipm_stabilizer::StabilizerTask::dcmEstimator_

protected

Filtering of the divergent component of motion (DCM) and estimation of a bias betweeen the DCM and the corresponding zero moment point for a linearized inverted pendulum model. Whether the estimator needs to be reset (robot in the air, initialization)

◆ dcmEstimatorNeedsReset_

bool mc_tasks::lipm_stabilizer::StabilizerTask::dcmEstimatorNeedsReset_ = true

protected

Contacts to add to the QPSolver when the task is inserted

◆ dcmIntegrator_

mc_filter::ExponentialMovingAverage<Eigen::Vector3d> mc_tasks::lipm_stabilizer::StabilizerTask::dcmIntegrator_

protected

◆ dcmTarget_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::dcmTarget_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ dcmVelError_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::dcmVelError_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ defaultConfig_

StabilizerConfiguration mc_tasks::lipm_stabilizer::StabilizerTask::defaultConfig_

protected

< Default (user-provided) configuration for the stabilizer. This configuration is superseeded by the parameters set in the GUI Last valid stabilizer configuration.

◆ delayedTargetCoPLeft_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::delayedTargetCoPLeft_ = Eigen::Vector2d::Zero()

protected

Considered target for the delay

◆ delayedTargetCoPRight_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::delayedTargetCoPRight_ = Eigen::Vector2d::Zero()

protected

Considered target for the delay

◆ delayedTargetFzLeft_

double mc_tasks::lipm_stabilizer::StabilizerTask::delayedTargetFzLeft_ = 0

protected

Considered target for the delay

◆ delayedTargetFzRight_

double mc_tasks::lipm_stabilizer::StabilizerTask::delayedTargetFzRight_ = 0

protected

Considered target for the delay

◆ desiredFzLeft_

double mc_tasks::lipm_stabilizer::StabilizerTask::desiredFzLeft_ = 0.

protected

Used for logging

◆ desiredFzRight_

double mc_tasks::lipm_stabilizer::StabilizerTask::desiredFzRight_ = 0.

protected

Used for logging

◆ desiredWrench_

sva::ForceVecd mc_tasks::lipm_stabilizer::StabilizerTask::desiredWrench_ = sva::ForceVecd::Zero()

protected

Result of the DCM feedback

◆ dfError_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::dfError_ = Eigen::Vector3d::Zero()

protected

Height error in foot force difference control

◆ dfForceError_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::dfForceError_ = Eigen::Vector3d::Zero()

protected

Force error in foot force difference control

◆ disableConfig_

StabilizerConfiguration mc_tasks::lipm_stabilizer::StabilizerTask::disableConfig_

protected

Online stabilizer configuration, can be set from the GUI. Defaults to defaultConfig_

◆ distribCheck_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::distribCheck_ = Eigen::Vector2d::Zero()

protected

◆ distribWrench_

sva::ForceVecd mc_tasks::lipm_stabilizer::StabilizerTask::distribWrench_ = sva::ForceVecd::Zero()

protected

Result of the force distribution QP

◆ distribZMP_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::distribZMP_

protected

Initial value:

=

Eigen::Vector3d::Zero()

ZMP corresponding to force distribution result (desired ZMP)

◆ dt_

double mc_tasks::lipm_stabilizer::StabilizerTask::dt_ = 0.005

protected

Controller cycle in [s]

◆ enabled_

bool mc_tasks::lipm_stabilizer::StabilizerTask::enabled_ = true

protected

Contacts to add to the QPSolver when the task is inserted

◆ extWrenches_

std::vector<ExternalWrench> mc_tasks::lipm_stabilizer::StabilizerTask::extWrenches_

protected

Sum of target (expected) external wrenches

◆ extWrenchSumLowPass_

mc_filter::LowPass<sva::ForceVecd> mc_tasks::lipm_stabilizer::StabilizerTask::extWrenchSumLowPass_

protected

Low-pass filter of the sum of the measured external wrenches

◆ extWrenchSumMeasured_

sva::ForceVecd mc_tasks::lipm_stabilizer::StabilizerTask::extWrenchSumMeasured_ = sva::ForceVecd::Zero()

protected

Sum of measured external wrenches

◆ extWrenchSumTarget_

sva::ForceVecd mc_tasks::lipm_stabilizer::StabilizerTask::extWrenchSumTarget_ = sva::ForceVecd::Zero()

protected

Sum of target (expected) external wrenches

◆ footTasks

std::unordered_map<ContactState, std::shared_ptr<mc_tasks::force::CoPTask>, EnumClassHash> mc_tasks::lipm_stabilizer::StabilizerTask::footTasks

protected

Contacts to add to the QPSolver when the task is inserted

◆ fSumFilter_

mc_filter::LowPass<Eigen::Vector3d> mc_tasks::lipm_stabilizer::StabilizerTask::fSumFilter_

protected

Low pass filter that sum the forces on both feet>

◆ horizonCoPDistribution_

bool mc_tasks::lipm_stabilizer::StabilizerTask::horizonCoPDistribution_ = false

protected

◆ horizonDelta_

double mc_tasks::lipm_stabilizer::StabilizerTask::horizonDelta_ = 0.05

protected

Sequence sampling period Is set to true when a new zmp sequence is provided and overided classical distribution

◆ horizonRefUpdated_

bool mc_tasks::lipm_stabilizer::StabilizerTask::horizonRefUpdated_ = false

protected

◆ horizonZmpRef_

std::vector<Eigen::Vector2d> mc_tasks::lipm_stabilizer::StabilizerTask::horizonZmpRef_

protected

Future ZMP reference during tHorizon

◆ inTheAir_

bool mc_tasks::lipm_stabilizer::StabilizerTask::inTheAir_ = false

protected

Is the robot in the air?

◆ lastConfig_

StabilizerConfiguration mc_tasks::lipm_stabilizer::StabilizerTask::lastConfig_

protected

Stabilizer configuration to disable.

◆ leftFootRatio_

double mc_tasks::lipm_stabilizer::StabilizerTask::leftFootRatio_ = 0.5

protected

Weight distribution ratio (0: all weight on right foot, 1: all on left foot)

◆ mass_

double mc_tasks::lipm_stabilizer::StabilizerTask::mass_ = 38.

protected

Robot mass in [kg]

◆ measuredCoM_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::measuredCoM_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ measuredCoMd_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::measuredCoMd_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ measuredCoMdd_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::measuredCoMdd_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ measuredCoMUnbiased_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::measuredCoMUnbiased_ = Eigen::Vector3d::Zero()

protected

DCM unbiased (only used for logging)

◆ measuredDCM_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::measuredDCM_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ measuredDCMUnbiased_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::measuredDCMUnbiased_ = Eigen::Vector3d::Zero()

protected

Measured DCM (only used for logging)

◆ measuredNetWrench_

sva::ForceVecd mc_tasks::lipm_stabilizer::StabilizerTask::measuredNetWrench_ = sva::ForceVecd::Zero()

protected

CoM unbiased (only used for logging)

◆ measuredZMP_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::measuredZMP_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ modeledCoPLeft_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::modeledCoPLeft_ = Eigen::Vector2d::Zero()

protected

Used for logging

◆ modeledCoPRight_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::modeledCoPRight_ = Eigen::Vector2d::Zero()

protected

Used for logging

◆ modeledFzLeft_

double mc_tasks::lipm_stabilizer::StabilizerTask::modeledFzLeft_ = 0.

protected

Used for logging

◆ modeledFzRight_

double mc_tasks::lipm_stabilizer::StabilizerTask::modeledFzRight_ = 0.

protected

Used for logging

◆ omega_

double mc_tasks::lipm_stabilizer::StabilizerTask::omega_ = 3.4

protected

Contacts to add to the QPSolver when the task is inserted

◆ pelvisTask

std::shared_ptr<mc_tasks::OrientationTask> mc_tasks::lipm_stabilizer::StabilizerTask::pelvisTask

protected

Pelvis orientation task

◆ QPCoPLeft_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::QPCoPLeft_

protected

Initial value:

=

Eigen::Vector2d::Zero()

Get the next modeled CoP by the Horizon based force distribution QP

◆ QPCoPRight_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::QPCoPRight_

protected

Initial value:

=

Eigen::Vector2d::Zero()

Get the next modeled CoP by the Horizon based force distribution QP Error between the computed ZMP byt the Horizon based force distribution QP and the reference zmp>

◆ qpSolver_

Eigen::QuadProgDense mc_tasks::lipm_stabilizer::StabilizerTask::qpSolver_

protected

Whether the stabilizer is enabled Least-squares solver for wrench distribution

◆ realRobots_

const mc_rbdyn::Robots& mc_tasks::lipm_stabilizer::StabilizerTask::realRobots_

protected

Contacts to add to the QPSolver when the task is inserted

◆ reconfigure_

bool mc_tasks::lipm_stabilizer::StabilizerTask::reconfigure_ = true

protected

Contacts to add to the QPSolver when the task is inserted

◆ robotIndex_

unsigned int mc_tasks::lipm_stabilizer::StabilizerTask::robotIndex_

protected

Contacts to add to the QPSolver when the task is inserted

◆ robots_

const mc_rbdyn::Robots& mc_tasks::lipm_stabilizer::StabilizerTask::robots_

protected

Contacts to add to the QPSolver when the task is inserted

◆ runTime_

double mc_tasks::lipm_stabilizer::StabilizerTask::runTime_ = 0.

protected

◆ supportFoot_

ContactState mc_tasks::lipm_stabilizer::StabilizerTask::supportFoot_ = ContactState::Left

protected

Future support foot

◆ supportMax_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::supportMax_ = Eigen::Vector2d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ supportMin_

Eigen::Vector2d mc_tasks::lipm_stabilizer::StabilizerTask::supportMin_ = Eigen::Vector2d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ supportPolygons_

std::vector<std::vector<Eigen::Vector3d> > mc_tasks::lipm_stabilizer::StabilizerTask::supportPolygons_

protected

Force sensors corresponding to established contacts For GUI display

◆ t_

double mc_tasks::lipm_stabilizer::StabilizerTask::t_ = 0.

protected

Time elapsed since the task is running

◆ tComputation_

double mc_tasks::lipm_stabilizer::StabilizerTask::tComputation_ = 0.

protected

time when the Horizon based force distribution has been computed

◆ torsoTask

std::shared_ptr<mc_tasks::OrientationTask> mc_tasks::lipm_stabilizer::StabilizerTask::torsoTask

protected

Torso orientation task

◆ vdcHeightError_

double mc_tasks::lipm_stabilizer::StabilizerTask::vdcHeightError_ = 0

protected

Average height error used in vertical drift compensation

◆ wasEnabled_

bool mc_tasks::lipm_stabilizer::StabilizerTask::wasEnabled_ = true

protected

Whether the stabilizer was enabled before the robot was in the air

◆ wasInTheAir_

bool mc_tasks::lipm_stabilizer::StabilizerTask::wasInTheAir_ = false

protected

Whether the robot was in the air at the previous iteration

◆ zmpcc_

ZMPCC mc_tasks::lipm_stabilizer::StabilizerTask::zmpcc_

protected

Compute CoM offset due to ZMPCC compensation

◆ zmpccOnlyDS_

bool mc_tasks::lipm_stabilizer::StabilizerTask::zmpccOnlyDS_ = true

protected

Only apply ZMPCC in double support

◆ zmpCoefMeasured_

double mc_tasks::lipm_stabilizer::StabilizerTask::zmpCoefMeasured_ = 1

protected

Measured Zmp Coefficient

◆ zmpCoefTarget_

double mc_tasks::lipm_stabilizer::StabilizerTask::zmpCoefTarget_ = 1

protected

target (expected) Zmp Coefficient

◆ zmpdTarget_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::zmpdTarget_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

◆ zmpFrame_

sva::PTransformd mc_tasks::lipm_stabilizer::StabilizerTask::zmpFrame_ = sva::PTransformd::Identity()

protected

Frame in which the ZMP is computed

◆ zmpTarget_

Eigen::Vector3d mc_tasks::lipm_stabilizer::StabilizerTask::zmpTarget_ = Eigen::Vector3d::Zero()

protected

Contacts to add to the QPSolver when the task is inserted

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

include/mc_tasks/lipm_stabilizer/StabilizerTask.h

Classes

Public Member Functions

Protected Attributes

Setters to reconfigure the stabilizer online

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StabilizerTask() [1/2]

◆ StabilizerTask() [2/2]

Member Function Documentation

◆ addToGUI()

◆ addToLogger()

◆ addToSolver()

◆ anchorFrame()

◆ biasDCM()

◆ checkConfiguration()

◆ commitConfig()

◆ commitedConfig()

◆ comOffsetDerivatorTimeConstant()

◆ comOffsetLowPassCoMCutoffPeriod()

◆ comOffsetLowPassCutoffPeriod()

◆ comOffsetMeasured()

◆ comOffsetTarget()

◆ comStiffness()

◆ comWeight()

◆ config()

◆ configure()

◆ configure_()

◆ contactAnklePose()

◆ contactDamping()

◆ contactStiffness()

◆ contactWeight()

◆ copAdmittance()

◆ copMaxVel()

◆ copVelFilterGain() [1/2]

◆ copVelFilterGain() [2/2]

◆ dcmBiasEstimatorConfiguration() [1/2]

◆ dcmBiasEstimatorConfiguration() [2/2]

◆ dcmDerivatorCutoffPeriod()

◆ dcmDerivatorTimeConstant()

◆ dcmGains() [1/2]

◆ dcmGains() [2/2]

◆ dcmIntegratorTimeConstant()

◆ dfAdmittance()

◆ dfDamping()

◆ disable()

◆ disable_()

◆ distribZMP()

◆ enable()

◆ eval()

◆ externalWrenchConfiguration() [1/2]

◆ externalWrenchConfiguration() [2/2]

◆ externalWrenches()

◆ extWrenchSumLowPassCutoffPeriod()

◆ fdqpWeights()

◆ filteredDCM()

◆ footSurface()

◆ horizonReference()

◆ inContact()

◆ inDoubleSupport()

◆ leftFootRatio()

◆ load()

◆ measuredCoM()

◆ measuredCoMd()

◆ measuredDCM()

◆ measuredFilteredNetForces()

◆ measuredZMP()

◆ name() [1/3]

◆ name() [2/3]

◆ name() [3/3]

◆ omega()

◆ pelvisStiffness()

◆ pelvisWeight()

◆ realRobot()

◆ reconfigure()

◆ removeFromGUI()

◆ removeFromLogger()

◆ removeFromSolver()

◆ reset()

◆ robot()