sobec::WBCHorizonSettings Struct Reference

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

Public Attributes
int	totalSteps = 4
int	T = 100
int	TdoubleSupport = 50
int	TsingleSupport = 100
int	Tstep = TdoubleSupport + TsingleSupport
int	ddpIteration = 1
double	Dt = 1e-2
double	simu_step = 1e-3
double	min_force = 150
double	support_force = 1000
int	Nc = (int)round(Dt / simu_step)

Detailed Description

Todo:

: in order to switch between locomotions safely, incorporate a terminal constraint

Member Data Documentation

ddpIteration

int sobec::WBCHorizonSettings::ddpIteration = 1

Dt

double sobec::WBCHorizonSettings::Dt = 1e-2

min_force

double sobec::WBCHorizonSettings::min_force = 150

Nc

int sobec::WBCHorizonSettings::Nc = (int)round(Dt / simu_step)

simu_step

double sobec::WBCHorizonSettings::simu_step = 1e-3

support_force

double sobec::WBCHorizonSettings::support_force = 1000

T

int sobec::WBCHorizonSettings::T = 100

TdoubleSupport

int sobec::WBCHorizonSettings::TdoubleSupport = 50

totalSteps

int sobec::WBCHorizonSettings::totalSteps = 4

Todo:

: add the cost names as setting parameters.

TsingleSupport

int sobec::WBCHorizonSettings::TsingleSupport = 100

Tstep

int sobec::WBCHorizonSettings::Tstep = TdoubleSupport + TsingleSupport

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

• include/sobec/walk-with-traj/wbc_horizon.hpp