#include <sobec/walk-with-traj/wbc_horizon.hpp>

Collaboration diagram for sobec::WBCHorizon:

[legend]

Public Member Functions
	WBCHorizon ()

	WBCHorizon (const WBCHorizonSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName)

void	initialize (const WBCHorizonSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName)

void	updateSupportTiming ()

const Eigen::VectorXd &	shapeState (const Eigen::VectorXd &q, const Eigen::VectorXd &v)

void	setForceAlongHorizon ()

std::vector< Support >	generateSupportCycle ()

void	generateFullHorizon (ModelMaker &mm, const Experiment &experiment)

bool	timeToSolveDDP (int iteration)

void	iterate (const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible)

void	iterate (int iteration, const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible)

void	iterateNoThinking (const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible)

void	iterateNoThinking (int iteration, const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible)

void	iterateNoThinkingWithDelay (const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool contact_left, bool contact_right, bool is_feasible)

void	recedeWithCycle ()

void	goToNextDoubleSupport ()

WBCHorizonSettings &	get_settings ()

const Eigen::VectorXd &	get_x0 () const

void	set_x0 (const Eigen::VectorXd &x0)

HorizonManager &	get_fullHorizon ()

void	set_fullHorizon (const HorizonManager &fullHorizon)

HorizonManager &	get_horizon ()

void	set_horizon (const HorizonManager &horizon)

RobotDesigner &	get_designer ()

void	set_designer (const RobotDesigner &designer)

const std::vector< int > &	get_land_LF ()

const std::vector< int > &	get_land_RF ()

const std::vector< int > &	get_takeoff_LF ()

const std::vector< int > &	get_takeoff_RF ()

const int &	get_horizon_iteration ()

const std::vector< pinocchio::SE3 > &	getPoseRef_LF ()

const pinocchio::SE3 &	getPoseRef_LF (unsigned long time)

void	setPoseRef_LF (const std::vector< pinocchio::SE3 > &ref_LF_poses)

void	setPoseRef_LF (const pinocchio::SE3 &ref_LF_pose, unsigned long time)

const std::vector< pinocchio::SE3 > &	getPoseRef_RF ()

const pinocchio::SE3 &	getPoseRef_RF (unsigned long time)

void	setPoseRef_RF (const std::vector< pinocchio::SE3 > &ref_RF_poses)

void	setPoseRef_RF (const pinocchio::SE3 &ref_RF_pose, unsigned long time)

const eVector3 &	getCoMRef ()

void	setCoMRef (eVector3 ref_com)

const Eigen::Matrix3d &	getBaseRotRef ()

void	setBaseRotRef (Eigen::Matrix3d ref_base_rotation)

const eVector3 &	getVelRef_COM ()

void	setVelRef_COM (eVector3 ref_com_vel)

bool	horizonEnd ()

std::vector< pinocchio::SE3 > &	ref_LF_poses ()

std::vector< pinocchio::SE3 > &	ref_RF_poses ()

eVector3 &	ref_com ()

Eigen::Matrix3d &	ref_base_rot ()

eVector3 &	ref_com_vel ()

Protected Member Functions
void	updateStepTrackerReferences ()

void	updateStepTrackerLastReference ()

void	updateNonThinkingReferences ()

Protected Attributes
WBCHorizonSettings	settings_

RobotDesigner	designer_

HorizonManager	horizon_

HorizonManager	fullHorizon_

eVector3	ref_com_vel_

eVector3	ref_com_

eVector3	ref_dcm_

Eigen::Matrix3d	ref_base_rotation_

Eigen::VectorXd	x0_

int	horizon_iteration_

double	yaw_left_

double	yaw_right_

std::vector< int >	takeoff_RF_

std::vector< int >	takeoff_LF_

std::vector< int >	land_RF_

std::vector< int >	land_LF_

std::vector< pinocchio::SE3 >	ref_LF_poses_

std::vector< pinocchio::SE3 >	ref_RF_poses_

bool	initialized_ = false

std::vector< unsigned long >	controlled_joints_id_

Eigen::VectorXd	x_internal_

bool	time_to_solve_ddp_ = false

Constructor & Destructor Documentation

◆ WBCHorizon() [1/2]

sobec::WBCHorizon::WBCHorizon ( )

◆ WBCHorizon() [2/2]

sobec::WBCHorizon::WBCHorizon	(	const WBCHorizonSettings &	settings,
		const RobotDesigner &	design,
		const HorizonManager &	horizon,
		const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	v0,
		const std::string &	actuationCostName
	)

Member Function Documentation

◆ generateFullHorizon()

void sobec::WBCHorizon::generateFullHorizon	(	ModelMaker &	mm,
		const Experiment &	experiment
	)

◆ generateSupportCycle()

std::vector< Support > sobec::WBCHorizon::generateSupportCycle ( )

◆ get_designer()

RobotDesigner& sobec::WBCHorizon::get_designer ( )

inline

◆ get_fullHorizon()

HorizonManager& sobec::WBCHorizon::get_fullHorizon ( )

inline

◆ get_horizon()

HorizonManager& sobec::WBCHorizon::get_horizon ( )

inline

◆ get_horizon_iteration()

const int& sobec::WBCHorizon::get_horizon_iteration ( )

inline

◆ get_land_LF()

const std::vector<int>& sobec::WBCHorizon::get_land_LF ( )

inline

◆ get_land_RF()

const std::vector<int>& sobec::WBCHorizon::get_land_RF ( )

inline

◆ get_settings()

WBCHorizonSettings& sobec::WBCHorizon::get_settings ( )

inline

◆ get_takeoff_LF()

const std::vector<int>& sobec::WBCHorizon::get_takeoff_LF ( )

inline

◆ get_takeoff_RF()

const std::vector<int>& sobec::WBCHorizon::get_takeoff_RF ( )

inline

◆ get_x0()

const Eigen::VectorXd& sobec::WBCHorizon::get_x0 ( ) const

inline

◆ getBaseRotRef()

const Eigen::Matrix3d& sobec::WBCHorizon::getBaseRotRef ( )

inline

◆ getCoMRef()

const eVector3& sobec::WBCHorizon::getCoMRef ( )

inline

◆ getPoseRef_LF() [1/2]

const std::vector<pinocchio::SE3>& sobec::WBCHorizon::getPoseRef_LF ( )

inline

◆ getPoseRef_LF() [2/2]

const pinocchio::SE3& sobec::WBCHorizon::getPoseRef_LF ( unsigned long time )

inline

◆ getPoseRef_RF() [1/2]

const std::vector<pinocchio::SE3>& sobec::WBCHorizon::getPoseRef_RF ( )

inline

◆ getPoseRef_RF() [2/2]

const pinocchio::SE3& sobec::WBCHorizon::getPoseRef_RF ( unsigned long time )

inline

◆ getVelRef_COM()

const eVector3& sobec::WBCHorizon::getVelRef_COM ( )

inline

◆ goToNextDoubleSupport()

void sobec::WBCHorizon::goToNextDoubleSupport ( )

◆ horizonEnd()

bool sobec::WBCHorizon::horizonEnd ( )

inline

◆ initialize()

void sobec::WBCHorizon::initialize	(	const WBCHorizonSettings &	settings,
		const RobotDesigner &	design,
		const HorizonManager &	horizon,
		const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	v0,
		const std::string &	actuationCostName
	)

The posture required here is the full robot posture in the order of pinicchio

Todo:: : Remove this from the initialization and provide it as a method.

◆ iterate() [1/2]

void sobec::WBCHorizon::iterate	(	const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	is_feasible
	)

◆ iterate() [2/2]

void sobec::WBCHorizon::iterate	(	int	iteration,
		const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	is_feasible
	)

◆ iterateNoThinking() [1/2]

void sobec::WBCHorizon::iterateNoThinking	(	const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	is_feasible
	)

◆ iterateNoThinking() [2/2]

void sobec::WBCHorizon::iterateNoThinking	(	int	iteration,
		const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	is_feasible
	)

◆ iterateNoThinkingWithDelay()

void sobec::WBCHorizon::iterateNoThinkingWithDelay	(	const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	contact_left,
		bool	contact_right,
		bool	is_feasible
	)

◆ recedeWithCycle()

void sobec::WBCHorizon::recedeWithCycle ( )

◆ ref_base_rot()

Eigen::Matrix3d& sobec::WBCHorizon::ref_base_rot ( )

inline

◆ ref_com()

eVector3& sobec::WBCHorizon::ref_com ( )

inline

◆ ref_com_vel()

eVector3& sobec::WBCHorizon::ref_com_vel ( )

inline

◆ ref_LF_poses()

std::vector<pinocchio::SE3>& sobec::WBCHorizon::ref_LF_poses ( )

inline

◆ ref_RF_poses()

std::vector<pinocchio::SE3>& sobec::WBCHorizon::ref_RF_poses ( )

inline

◆ set_designer()

void sobec::WBCHorizon::set_designer ( const RobotDesigner & designer )

inline

◆ set_fullHorizon()

void sobec::WBCHorizon::set_fullHorizon ( const HorizonManager & fullHorizon )

inline

◆ set_horizon()

void sobec::WBCHorizon::set_horizon ( const HorizonManager & horizon )

inline

◆ set_x0()

void sobec::WBCHorizon::set_x0 ( const Eigen::VectorXd & x0 )

inline

◆ setBaseRotRef()

void sobec::WBCHorizon::setBaseRotRef ( Eigen::Matrix3d ref_base_rotation )

inline

◆ setCoMRef()

void sobec::WBCHorizon::setCoMRef ( eVector3 ref_com )

inline

◆ setForceAlongHorizon()

void sobec::WBCHorizon::setForceAlongHorizon ( )

◆ setPoseRef_LF() [1/2]

void sobec::WBCHorizon::setPoseRef_LF	(	const pinocchio::SE3 &	ref_LF_pose,
		unsigned long	time
	)

inline

◆ setPoseRef_LF() [2/2]

void sobec::WBCHorizon::setPoseRef_LF ( const std::vector< pinocchio::SE3 > & ref_LF_poses )

inline

◆ setPoseRef_RF() [1/2]

void sobec::WBCHorizon::setPoseRef_RF	(	const pinocchio::SE3 &	ref_RF_pose,
		unsigned long	time
	)

inline

◆ setPoseRef_RF() [2/2]

void sobec::WBCHorizon::setPoseRef_RF ( const std::vector< pinocchio::SE3 > & ref_RF_poses )

inline

◆ setVelRef_COM()

void sobec::WBCHorizon::setVelRef_COM ( eVector3 ref_com_vel )

inline

◆ shapeState()

const Eigen::VectorXd & sobec::WBCHorizon::shapeState	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)

◆ timeToSolveDDP()

bool sobec::WBCHorizon::timeToSolveDDP ( int iteration )

◆ updateNonThinkingReferences()

void sobec::WBCHorizon::updateNonThinkingReferences ( )

protected

◆ updateStepTrackerLastReference()

void sobec::WBCHorizon::updateStepTrackerLastReference ( )

protected

◆ updateStepTrackerReferences()

void sobec::WBCHorizon::updateStepTrackerReferences ( )

protected

Todo:: : the names must be provided by the user

◆ updateSupportTiming()

void sobec::WBCHorizon::updateSupportTiming ( )

Member Data Documentation

◆ controlled_joints_id_

std::vector<unsigned long> sobec::WBCHorizon::controlled_joints_id_

protected

◆ designer_

RobotDesigner sobec::WBCHorizon::designer_

protected

◆ fullHorizon_

HorizonManager sobec::WBCHorizon::fullHorizon_

protected

◆ horizon_

HorizonManager sobec::WBCHorizon::horizon_

protected

◆ horizon_iteration_

int sobec::WBCHorizon::horizon_iteration_

protected

◆ initialized_

bool sobec::WBCHorizon::initialized_ = false

protected

◆ land_LF_

std::vector<int> sobec::WBCHorizon::land_LF_

protected

◆ land_RF_

std::vector<int> sobec::WBCHorizon::land_RF_

protected

◆ ref_base_rotation_

Eigen::Matrix3d sobec::WBCHorizon::ref_base_rotation_

protected

◆ ref_com_

eVector3 sobec::WBCHorizon::ref_com_

protected

◆ ref_com_vel_

eVector3 sobec::WBCHorizon::ref_com_vel_

protected

◆ ref_dcm_

eVector3 sobec::WBCHorizon::ref_dcm_

protected

◆ ref_LF_poses_

std::vector<pinocchio::SE3> sobec::WBCHorizon::ref_LF_poses_

protected

◆ ref_RF_poses_

std::vector<pinocchio::SE3> sobec::WBCHorizon::ref_RF_poses_

protected

◆ settings_

WBCHorizonSettings sobec::WBCHorizon::settings_

protected

Form to use this class: 1) The function iterate produces the torques to command. 2) All cost references must be updated separtely in the control loop.

◆ takeoff_LF_

std::vector<int> sobec::WBCHorizon::takeoff_LF_

protected

◆ takeoff_RF_

std::vector<int> sobec::WBCHorizon::takeoff_RF_

protected

◆ time_to_solve_ddp_

bool sobec::WBCHorizon::time_to_solve_ddp_ = false

protected

◆ x0_

Eigen::VectorXd sobec::WBCHorizon::x0_

protected

◆ x_internal_

Eigen::VectorXd sobec::WBCHorizon::x_internal_

protected

◆ yaw_left_

double sobec::WBCHorizon::yaw_left_

protected

◆ yaw_right_

double sobec::WBCHorizon::yaw_right_

protected

The documentation for this class was generated from the following files:

include/sobec/walk-with-traj/wbc_horizon.hpp
src/walk-with-traj/wbc_horizon.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ WBCHorizon() [1/2]

◆ WBCHorizon() [2/2]

Member Function Documentation

◆ generateFullHorizon()

◆ generateSupportCycle()

◆ get_designer()

◆ get_fullHorizon()

◆ get_horizon()

◆ get_horizon_iteration()

◆ get_land_LF()

◆ get_land_RF()

◆ get_settings()

◆ get_takeoff_LF()

◆ get_takeoff_RF()

◆ get_x0()

◆ getBaseRotRef()

◆ getCoMRef()

◆ getPoseRef_LF() [1/2]

◆ getPoseRef_LF() [2/2]

◆ getPoseRef_RF() [1/2]

◆ getPoseRef_RF() [2/2]

◆ getVelRef_COM()

◆ goToNextDoubleSupport()

◆ horizonEnd()

◆ initialize()

◆ iterate() [1/2]

◆ iterate() [2/2]

◆ iterateNoThinking() [1/2]

◆ iterateNoThinking() [2/2]

◆ iterateNoThinkingWithDelay()

◆ recedeWithCycle()

◆ ref_base_rot()

◆ ref_com()

◆ ref_com_vel()

◆ ref_LF_poses()

◆ ref_RF_poses()

◆ set_designer()

◆ set_fullHorizon()

◆ set_horizon()

◆ set_x0()

◆ setBaseRotRef()

◆ setCoMRef()

◆ setForceAlongHorizon()

◆ setPoseRef_LF() [1/2]

◆ setPoseRef_LF() [2/2]

◆ setPoseRef_RF() [1/2]

◆ setPoseRef_RF() [2/2]

◆ setVelRef_COM()

◆ shapeState()

◆ timeToSolveDDP()

◆ updateNonThinkingReferences()

◆ updateStepTrackerLastReference()

◆ updateStepTrackerReferences()

◆ updateSupportTiming()

Member Data Documentation

◆ controlled_joints_id_

◆ designer_

◆ fullHorizon_

◆ horizon_

◆ horizon_iteration_

◆ initialized_

◆ land_LF_

◆ land_RF_

◆ ref_base_rotation_

◆ ref_com_

◆ ref_com_vel_

◆ ref_dcm_

◆ ref_LF_poses_

◆ ref_RF_poses_

◆ settings_

◆ takeoff_LF_

◆ takeoff_RF_

◆ time_to_solve_ddp_

◆ x0_

◆ x_internal_

◆ yaw_left_