PreviewControl.hh

Go to the documentation of this file.

/*
 * Copyright 2006, 2007, 2008, 2009, 2010,
 *
 * Florent Lamiraux
 * Mathieu Poirier
 * 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 Object to perform preview control on a cart model */
#ifndef _PREVIEW_CONTROL_H_
#define _PREVIEW_CONTROL_H_
 
#include <deque>
#include <iostream>
#include <string>
#include <vector>
 
using namespace ::std;
 
#include <PreviewControl/OptimalControllerSolver.hh>
#include <SimplePlugin.hh>
#include <jrl/walkgen/pgtypes.hh>
 
namespace PatternGeneratorJRL {
 
class PreviewControl : public SimplePlugin {
 public:
  PreviewControl(
      SimplePluginManager *lSPM,
      unsigned int defaultMode = OptimalControllerSolver::MODE_WITH_INITIALPOS,
      bool computeWeightsAutomatically = false);
 
  ~PreviewControl();
 
  void ReadPrecomputedFile(string aFileName);
 
  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);
 
  int OneIterationOfPreview1D(Eigen::MatrixXd &x, double &sxzmp,
                              deque<double> &ZMPPositions,
                              unsigned long int lindex, double &zmpx2,
                              bool Simulation);
 
  int OneIterationOfPreview1D(Eigen::MatrixXd &x, double &sxzmp,
                              vector<double> &ZMPPositions,
                              unsigned long int lindex, double &zmpx2,
                              bool Simulation);
 
  double SamplingPeriod() const;
 
  double PreviewControlTime() const;
 
  double GetHeightOfCoM() const;
 
  void SetSamplingPeriod(double lSamplingPeriod);
 
  void SetPreviewControlTime(double lPreviewControlTime);
 
  void SetHeightOfCoM(double lZc);
  bool IsCoherent();
 
  void ComputeOptimalWeights(unsigned int mode);
 
  void print();
 
  virtual void CallMethod(std::string &Method, std::istringstream &astrm);
 
 private:
  Eigen::MatrixXd m_A;
  Eigen::MatrixXd m_B;
  Eigen::MatrixXd m_C;
 
  Eigen::MatrixXd m_Kx;
  double m_Ks;
  Eigen::MatrixXd m_F;
 
  /* \name Preview parameters. */
  double m_PreviewControlTime;
 
  double m_SamplingPeriod;
 
  long unsigned int m_SizeOfPreviewWindow;
 
  double m_Zc;
 
  bool m_Coherent;
 
  bool m_AutoComputeWeights;
 
  unsigned int m_DefaultWeightComputationMode;
};
}  // namespace PatternGeneratorJRL
#include <ZMPRefTrajectoryGeneration/ZMPDiscretization.hh>
#endif /* _PREVIEW_CONTROL_H_ */