mc_tasks::lipm_stabilizer::ZMPCC Struct Reference

#include <mc_tasks/lipm_stabilizer/ZMPCC.h>

Collaboration diagram for mc_tasks::lipm_stabilizer::ZMPCC:

Public Types
using	ZMPCCConfiguration = mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration

Public Member Functions
void	reset ()
void	enabled (bool state)
bool	enabled () const
void	configure (const ZMPCCConfiguration &config)
const ZMPCCConfiguration &	config () const
void	update (const Eigen::Vector3d &distribZMP, const Eigen::Vector3d &measuredZMP, const sva::PTransformd &zmpFrame, double dt)
void	apply (Eigen::Vector3d &com, Eigen::Vector3d &comd, Eigen::Vector3d &comdd)
	Apply ZMPCC in-place to the com. More...
void	addToGUI (mc_rtc::gui::StateBuilder &gui, const std::vector< std::string > &category)
void	removeFromGUI (mc_rtc::gui::StateBuilder &gui, const std::vector< std::string > &category)
void	addToLogger (mc_rtc::Logger &logger, const std::string &name)
void	removeFromLogger (mc_rtc::Logger &logger, const std::string &name)

Protected Attributes
ZMPCCConfiguration	config_
Eigen::Vector3d	comAccel_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	comOffset_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	comVel_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	error_ = Eigen::Vector3d::Zero()
mc_filter::LeakyIntegrator< Eigen::Vector3d >	integrator_
bool	enabled_ = true

Detailed Description

ZMP Compensation Control (ZMPCC)

CoM admittance based on ZMP Compensation Control. This approach is based on Section 6.2.2 of Dr Nagasaka's PhD thesis "体幹位置コンプライアンス制御によるモデル誤差吸収" (1999) from https://sites.google.com/site/humanoidchannel/home/publication.

Member Typedef Documentation

ZMPCCConfiguration

using mc_tasks::lipm_stabilizer::ZMPCC::ZMPCCConfiguration = mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration

Member Function Documentation

addToGUI()

void mc_tasks::lipm_stabilizer::ZMPCC::addToGUI	(	mc_rtc::gui::StateBuilder &	gui,
		const std::vector< std::string > &	category
	)

addToLogger()

void mc_tasks::lipm_stabilizer::ZMPCC::addToLogger	(	mc_rtc::Logger &	logger,
		const std::string &	name
	)

apply()

void mc_tasks::lipm_stabilizer::ZMPCC::apply	(	Eigen::Vector3d &	com,
		Eigen::Vector3d &	comd,
		Eigen::Vector3d &	comdd
	)

Apply ZMPCC in-place to the com.

Parameters

com	Desired CoM position
comd	Desired CoM velocity
comdd	Desired CoM acceleration

config()

const ZMPCCConfiguration& mc_tasks::lipm_stabilizer::ZMPCC::config ( ) const

inline

Returns ZMPCC configuration

configure()

void mc_tasks::lipm_stabilizer::ZMPCC::configure ( const ZMPCCConfiguration &  config )

inline

Configures ZMPCC parameters

Parameters

config

ZMPCC parameters

Note

this configuration may be modified interactively by the GUI elements

enabled() [1/2]

bool mc_tasks::lipm_stabilizer::ZMPCC::enabled ( ) const

inline

Returns whether ZMPCC compensation is enabled

enabled() [2/2]

void mc_tasks::lipm_stabilizer::ZMPCC::enabled ( bool  state )

inline

Enable/Disable ZMPCC

Parameters

state

Whether zmpcc is enabled true: compute ZMPCC compensation false: ZMPCC compensation gains are set to zero, and the integrator gradually leaks to zero

removeFromGUI()

void mc_tasks::lipm_stabilizer::ZMPCC::removeFromGUI	(	mc_rtc::gui::StateBuilder &	gui,
		const std::vector< std::string > &	category
	)

removeFromLogger()

void mc_tasks::lipm_stabilizer::ZMPCC::removeFromLogger	(	mc_rtc::Logger &	logger,
		const std::string &	name
	)

reset()

void mc_tasks::lipm_stabilizer::ZMPCC::reset

(

)

Resets everything to zero

update()

void mc_tasks::lipm_stabilizer::ZMPCC::update	(	const Eigen::Vector3d &	distribZMP,
		const Eigen::Vector3d &	measuredZMP,
		const sva::PTransformd &	zmpFrame,
		double	dt
	)

Compute CoM offset due to ZMPCC compensation

Parameters

distribZMP	Distributed ZMP target
measuredZMP	Measured ZMP
zmpFrame	Frame in which the ZMP is computed
dt	Control timestep

Member Data Documentation

comAccel_

Eigen::Vector3d mc_tasks::lipm_stabilizer::ZMPCC::comAccel_ = Eigen::Vector3d::Zero()

protected

Additional CoM acceleration from ZMPCC

comOffset_

Eigen::Vector3d mc_tasks::lipm_stabilizer::ZMPCC::comOffset_ = Eigen::Vector3d::Zero()

protected

Additional CoM position offset from ZMPCC

comVel_

Eigen::Vector3d mc_tasks::lipm_stabilizer::ZMPCC::comVel_ = Eigen::Vector3d::Zero()

protected

Additional CoM velocity from ZMPCC

config_

ZMPCCConfiguration mc_tasks::lipm_stabilizer::ZMPCC::config_

protected

Configuration of ZMPCC gains and parameters

enabled_

bool mc_tasks::lipm_stabilizer::ZMPCC::enabled_ = true

protected

error_

Eigen::Vector3d mc_tasks::lipm_stabilizer::ZMPCC::error_ = Eigen::Vector3d::Zero()

protected

Error between distributed and measured ZMP

integrator_

mc_filter::LeakyIntegrator<Eigen::Vector3d> mc_tasks::lipm_stabilizer::ZMPCC::integrator_

protected

Leaky integrator for the CoM offset added by ZMPCC

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

• include/mc_tasks/lipm_stabilizer/ZMPCC.h