LinearizedInvertedPendulum2D.hh

Go to the documentation of this file.

/*
 * Copyright 2009, 2010,
 *
 * Andrei Herdt
 * Olivier Stasse
 *
 * JRL, CNRS/AIST
 *
 * This file is part of walkGenJrl.
 * walkGenJrl is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * walkGenJrl is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Lesser Public License for more details.
 * You should have received a copy of the GNU Lesser General Public License
 * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  Research carried out within the scope of the
 *  Joint Japanese-French Robotics Laboratory (JRL)
 */
 
/* \doc This object simulate a 2D Linearized Inverted Pendulum
   with a control at the jerk level. */
 
#ifndef _LINEAR_INVERTED_PENDULUM_2D_H_
#define _LINEAR_INVERTED_PENDULUM_2D_H_
 
#include <deque>
 
#include <jrl/walkgen/pgtypes.hh>
#include <privatepgtypes.hh>
 
namespace PatternGeneratorJRL {
class LinearizedInvertedPendulum2D {
 public:
  LinearizedInvertedPendulum2D();
 
  ~LinearizedInvertedPendulum2D();
 
  int InitializeSystem();
 
  int Interpolation(std::deque<COMState> &COMStates,
                    std::deque<ZMPPosition> &ZMPRefPositions,
                    int CurrentPosition, double CX, double CY);
 
  com_t OneIteration(double CX, double CY);
 
 private:
  double m_T;
 
  double m_ComHeight;
 
  int m_InterpolationInterval;
 
  double m_SamplingPeriod;
 
  /* !  Matrices for the dynamical system.
     @{
  */
  /* ! Matrix regarding the state of the CoM (pos, velocity, acceleration) */
  Eigen::MatrixXd m_A;
  /* ! Vector for the command */
  Eigen::MatrixXd m_B;
  /* ! Vector for the ZMP. */
  Eigen::MatrixXd m_C;
 
  Eigen::VectorXd m_xk;
 
  com_t m_CoM;
 
  /* ! \brief Vector of ZMP  */
  Eigen::VectorXd m_zk;
 
  /* ! @} */
 
 public:
  const double &GetComHeight() const;
 
  void SetComHeight(const double &);
 
  const double &GetSimulationControlPeriod() const;
 
  void SetSimulationControlPeriod(const double &);
 
  const double &GetRobotControlPeriod();
 
  void SetRobotControlPeriod(const double &);
 
  inline const com_t operator()() const { return m_CoM; };
 
  inline void operator()(com_t CoM) { m_CoM = CoM; };
 
  void GetState(Eigen::VectorXd &lxk);
  COMState GetState();
 
  inline com_t getState() { return m_CoM; }
 
  void setState(com_t aCoM);
  void setState(COMState &aCoM);
};
}  // namespace PatternGeneratorJRL
#endif /* _LINEAR_INVERTED_PENDULUM_2D_H_ */