Class to implement the preview control. More...

#include <PreviewControl/PreviewControl.hh>

Inheritance diagram for PatternGeneratorJRL::PreviewControl:

Collaboration diagram for PatternGeneratorJRL::PreviewControl:

Public Member Functions
	PreviewControl (SimplePluginManager *lSPM, unsigned int defaultMode=OptimalControllerSolver::MODE_WITH_INITIALPOS, bool computeWeightsAutomatically=false)

	~PreviewControl ()

void	ReadPrecomputedFile (string aFileName)
	Read the file of parameters aFileName and set the sampling period, the preview control time, Ks, Kx, and F. More...

int	OneIterationOfPreview (Eigen::MatrixXd &x, Eigen::MatrixXd &y, double &sxzmp, double &syzmp, deque< PatternGeneratorJRL::ZMPPosition > &ZMPPositions, unsigned long int lindex, double &zmpx2, double &zmpy2, bool Simulation)
	One iteration of the preview control. More...

int	OneIterationOfPreview1D (Eigen::MatrixXd &x, double &sxzmp, deque< double > &ZMPPositions, unsigned long int lindex, double &zmpx2, bool Simulation)
	One iteration of the preview control along one axis (using queues) More...

int	OneIterationOfPreview1D (Eigen::MatrixXd &x, double &sxzmp, vector< double > &ZMPPositions, unsigned long int lindex, double &zmpx2, bool Simulation)
	One iteration of the preview control along one axis (using vectors) More...

void	ComputeOptimalWeights (unsigned int mode)
	Compute optimal weights. More...

void	print ()
	Overloading of << operator. More...

virtual void	CallMethod (std::string &Method, std::istringstream &astrm)
	Overloading method of SimplePlugin. More...

Methods to access the basic variables of the preview control.
double	SamplingPeriod () const
	Getter for the sampling period. More...

double	PreviewControlTime () const

double	GetHeightOfCoM () const

void	SetSamplingPeriod (double lSamplingPeriod)
	Setter for the sampling period. More...

void	SetPreviewControlTime (double lPreviewControlTime)

void	SetHeightOfCoM (double lZc)

bool	IsCoherent ()
	Indicates if the weights are coherent with the parameters. More...

Detailed Description

Class to implement the preview control.

Constructor & Destructor Documentation

PreviewControl::PreviewControl	(	SimplePluginManager *	lSPM,
		unsigned int	defaultMode = `OptimalControllerSolver::MODE_WITH_INITIALPOS`,
		bool	computeWeightsAutomatically = `false`
	)

Constructor

References i.

PreviewControl::~PreviewControl ( )

Destructor

Member Function Documentation

void PreviewControl::CallMethod	(	std::string &	Method,
		std::istringstream &	astrm
	)

virtual

Overloading method of SimplePlugin.

References ComputeOptimalWeights(), PatternGeneratorJRL::OptimalControllerSolver::MODE_WITH_INITIALPOS, PatternGeneratorJRL::OptimalControllerSolver::MODE_WITHOUT_INITIALPOS, SetHeightOfCoM(), SetPreviewControlTime(), and SetSamplingPeriod().

Referenced by print().

void PreviewControl::ComputeOptimalWeights ( unsigned int mode )

Compute optimal weights.

Parameters

[in] mode with initial pos (OptimalControllerSolver::MODE_WITH_INITIALPOS), without initial position (OptimalControllerSolver:: MODE_WITHOUT_INITIALPOS).

Solver to compute optimal weights

References PatternGeneratorJRL::OptimalControllerSolver::ComputeWeights(), PatternGeneratorJRL::OptimalControllerSolver::GetF(), PatternGeneratorJRL::OptimalControllerSolver::GetK(), i, j, PatternGeneratorJRL::OptimalControllerSolver::MODE_WITH_INITIALPOS, PatternGeneratorJRL::OptimalControllerSolver::MODE_WITHOUT_INITIALPOS, and OneIterationOfPreview().

Referenced by CallMethod(), SetHeightOfCoM(), SetPreviewControlTime(), SetSamplingPeriod(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::Setup().

double PreviewControl::GetHeightOfCoM ( ) const

Getter for the height position of the CoM.

bool PreviewControl::IsCoherent ( )

Indicates if the weights are coherent with the parameters.

int PreviewControl::OneIterationOfPreview	(	Eigen::MatrixXd &	x,
		Eigen::MatrixXd &	y,
		double &	sxzmp,
		double &	syzmp,
		deque< PatternGeneratorJRL::ZMPPosition > &	ZMPPositions,
		unsigned long int	lindex,
		double &	zmpx2,
		double &	zmpy2,
		bool	Simulation
	)

One iteration of the preview control.

References i, OneIterationOfPreview1D(), and x.

Referenced by ComputeOptimalWeights(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CreateExtraCOMBuffer(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl().

int PreviewControl::OneIterationOfPreview1D	(	Eigen::MatrixXd &	x,
		double &	sxzmp,
		deque< double > &	ZMPPositions,
		unsigned long int	lindex,
		double &	zmpx2,
		bool	Simulation
	)

One iteration of the preview control along one axis (using queues)

References i, and x.

Referenced by OneIterationOfPreview().

int PreviewControl::OneIterationOfPreview1D	(	Eigen::MatrixXd &	x,
		double &	sxzmp,
		vector< double > &	ZMPPositions,
		unsigned long int	lindex,
		double &	zmpx2,
		bool	Simulation
	)