PatternGeneratorJRL::LinearizedInvertedPendulum2D Class Reference

#include <PreviewControl/LinearizedInvertedPendulum2D.hh>

Public Member Functions
	LinearizedInvertedPendulum2D ()
	~LinearizedInvertedPendulum2D ()
int	InitializeSystem ()
	Initialize the system. More...
int	Interpolation (std::deque< COMState > &COMStates, std::deque< ZMPPosition > &ZMPRefPositions, int CurrentPosition, double CX, double CY)
	Interpolation during a simulation period with control parameters. More...
com_t	OneIteration (double CX, double CY)
	Simulate one iteration of the LIPM. More...
Getter and setter of variables
const double &	GetComHeight () const
void	SetComHeight (const double &)
const double &	GetSimulationControlPeriod () const
void	SetSimulationControlPeriod (const double &)
const double &	GetRobotControlPeriod ()
void	SetRobotControlPeriod (const double &)
const com_t	operator() () const
	Accessor. More...
void	operator() (com_t CoM)
	Accessor. More...
void	GetState (Eigen::VectorXd &lxk)
COMState	GetState ()
com_t	getState ()
void	setState (com_t aCoM)
void	setState (COMState &aCoM)

Constructor & Destructor Documentation

LinearizedInvertedPendulum2D::LinearizedInvertedPendulum2D

(

)

Constructor

LinearizedInvertedPendulum2D::~LinearizedInvertedPendulum2D

(

)

Destructor

Member Function Documentation

const double & LinearizedInvertedPendulum2D::GetComHeight

(

)

const

Getter for the CoM height

const double & LinearizedInvertedPendulum2D::GetRobotControlPeriod

(

)

Getter for the control period of the robot (for interpolation) .

const double & LinearizedInvertedPendulum2D::GetSimulationControlPeriod

(

)

const

Getter for the simulation period specifically

void LinearizedInvertedPendulum2D::GetState

(

Eigen::VectorXd &

lxk

)

Get state.

References PatternGeneratorJRL::COMState_s::x.

COMState LinearizedInvertedPendulum2D::GetState

(

)

References PatternGeneratorJRL::COMState_s::x, PatternGeneratorJRL::COMState_s::y, and PatternGeneratorJRL::COMState_s::z.

Referenced by operator()().

com_t PatternGeneratorJRL::LinearizedInvertedPendulum2D::getState ( )

inline

References setState().

int LinearizedInvertedPendulum2D::InitializeSystem

(

)

Initialize the system.

Returns

0 if the initialization is fine, -1 if the control period is not initialized, -2 if the Com height is not initialized.

References i, Interpolation(), and j.

int LinearizedInvertedPendulum2D::Interpolation	(	std::deque< COMState > &	COMStates,
		std::deque< ZMPPosition > &	ZMPRefPositions,
		int	CurrentPosition,
		double	CX,
		double	CY
	)

Interpolation during a simulation period with control parameters.

Parameters

[out]

References PatternGeneratorJRL::ZMPPosition_s::px, PatternGeneratorJRL::ZMPPosition_s::py, PatternGeneratorJRL::ZMPPosition_s::pz, PatternGeneratorJRL::ZMPPosition_s::theta, PatternGeneratorJRL::COMState_s::x, PatternGeneratorJRL::COMState_s::y, PatternGeneratorJRL::COMState_s::yaw, and PatternGeneratorJRL::COMState_s::z.

Referenced by InitializeSystem().

com_t LinearizedInvertedPendulum2D::OneIteration	(	double	CX,
		double	CY
	)

Simulate one iteration of the LIPM.

Parameters

[in]	CX	control value in the forward direction.
[in]	CY	control value in the left-right direction.

Returns

0 if the object has been properly initialized -1, otherwise.

const com_t PatternGeneratorJRL::LinearizedInvertedPendulum2D::operator() ( ) const

inline

Accessor.

void PatternGeneratorJRL::LinearizedInvertedPendulum2D::operator() ( com_t  CoM )

inline

Accessor.

References GetState().

void LinearizedInvertedPendulum2D::SetComHeight

(

const double &

aComHeight

)

Setter for the CoM height

void LinearizedInvertedPendulum2D::SetRobotControlPeriod

(

const double &

aT

)

Setter for the control period of the robot (for interpolation) .

void LinearizedInvertedPendulum2D::SetSimulationControlPeriod

(

const double &

aT

)

Setter for the simulation period specifically

void LinearizedInvertedPendulum2D::setState

(

com_t

aCoM

)

Set state.

Referenced by getState().

void LinearizedInvertedPendulum2D::setState

(

COMState &

aCoM

)

References PatternGeneratorJRL::COMState_s::x, PatternGeneratorJRL::COMState_s::y, and PatternGeneratorJRL::COMState_s::z.