sobec::MPCWalkParams Struct Reference

MPC manager, calling iterative subpart of a larger OCP. More...

#include <sobec/walk-without-think/mpc.hpp>

Public Member Functions
	MPCWalkParams ()
virtual	~MPCWalkParams ()
void	readParamsFromYamlString (std::string &StringToParse)
	Read a yaml parameter list, as a string. More...
void	readParamsFromYamlFile (const std::string &Filename)
	Read a yaml parameter list from a file. More...

Public Attributes
Eigen::Vector3d	vcomRef
	reference COM velocity More...
Eigen::VectorXd	x0
	reference 0 state More...
int	Tmpc
	Duration of the MPC horizon. More...
int	Tstart
	Duration of start phase of the OCP. More...
int	Tdouble
	Duration of double-support phases of the OCP. More...
int	Tsingle
	Duration of single-support phases of the OCP. More...
int	Tend
	Duration of the end phase of the OCP. More...
double	DT
	timestep in problem shooting nodes More...
double	solver_th_stop
	stop threshold to configure the solver More...
double	solver_reg_min
	solver param reg_min More...
int	solver_maxiter
	Solver max number of iteration. More...
std::string	stateRegCostName
	name of the regularization cost that is modified by mpc update. More...

Detailed Description

MPC manager, calling iterative subpart of a larger OCP.

Constructor & Destructor Documentation

MPCWalkParams()

sobec::MPCWalkParams::MPCWalkParams

(

)

~MPCWalkParams()

virtual sobec::MPCWalkParams::~MPCWalkParams ( )

inlinevirtual

Member Function Documentation

readParamsFromYamlFile()

void sobec::MPCWalkParams::readParamsFromYamlFile

(

const std::string &

Filename

)

Read a yaml parameter list from a file.

readParamsFromYamlString()

void sobec::MPCWalkParams::readParamsFromYamlString

(

std::string &

StringToParse

)

Read a yaml parameter list, as a string.

Member Data Documentation

DT

double sobec::MPCWalkParams::DT

timestep in problem shooting nodes

solver_maxiter

int sobec::MPCWalkParams::solver_maxiter

Solver max number of iteration.

solver_reg_min

double sobec::MPCWalkParams::solver_reg_min

solver param reg_min

solver_th_stop

double sobec::MPCWalkParams::solver_th_stop

stop threshold to configure the solver

stateRegCostName

std::string sobec::MPCWalkParams::stateRegCostName

name of the regularization cost that is modified by mpc update.

Tdouble

int sobec::MPCWalkParams::Tdouble

Duration of double-support phases of the OCP.

Tend

int sobec::MPCWalkParams::Tend

Duration of the end phase of the OCP.

Tmpc

int sobec::MPCWalkParams::Tmpc

Duration of the MPC horizon.

Tsingle

int sobec::MPCWalkParams::Tsingle

Duration of single-support phases of the OCP.

Tstart

int sobec::MPCWalkParams::Tstart

Duration of start phase of the OCP.

vcomRef

Eigen::Vector3d sobec::MPCWalkParams::vcomRef

reference COM velocity

x0

Eigen::VectorXd sobec::MPCWalkParams::x0

reference 0 state

---

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

• include/sobec/walk-without-think/mpc.hpp
• include/sobec/walk-without-think/mpc.hxx
• src/walk-without-think/mpc-params.cpp