smpc::state Class Reference

An abstract class representing state. More...

#include <smpc_solver.h>

Inheritance diagram for smpc::state:

Public Member Functions
	state ()
	Default constructor (everything set to 0). More...
void	set (double x_, double y_)
	Set coordinates, velocities and accelerations are assumed to be zero. More...
void	set (double x_, double vx_, double ax_, double y_, double vy_, double ay_)
	Set state to given values. More...
double &	x ()
	X/Y coordinate. More...
double &	y ()
	X/Y coordinate. More...
const double &	x () const
	X/Y coordinate. More...
const double &	y () const
	X/Y coordinate. More...
double &	vx ()
	Velocity along X/Y axis. More...
double &	vy ()
	Velocity along X/Y axis. More...
const double &	vx () const
	Velocity along X/Y axis. More...
const double &	vy () const
	Velocity along X/Y axis. More...
double &	ax ()
	Acceleration along X/Y axis. More...
double &	ay ()
	Acceleration along X/Y axis. More...
const double &	ax () const
	Acceleration along X/Y axis. More...
const double &	ay () const
	Acceleration along X/Y axis. More...

Public Attributes
double	state_vector [SMPC_NUM_STATE_VAR]

Detailed Description

An abstract class representing state.

Definition at line 50 of file smpc_solver.h.

Constructor & Destructor Documentation

state()

smpc::state::state

(

)

Default constructor (everything set to 0).

Definition at line 414 of file smpc_solver.cpp.

Member Function Documentation

ax() [1/2]

double& smpc::state::ax ( )

inline

Acceleration along X/Y axis.

Definition at line 93 of file smpc_solver.h.

ax() [2/2]

const double& smpc::state::ax ( ) const

inline

Acceleration along X/Y axis.

Definition at line 95 of file smpc_solver.h.

ay() [1/2]

double& smpc::state::ay ( )

inline

Acceleration along X/Y axis.

Definition at line 94 of file smpc_solver.h.

ay() [2/2]

const double& smpc::state::ay ( ) const

inline

Acceleration along X/Y axis.

Definition at line 96 of file smpc_solver.h.

set() [1/2]

void smpc::state::set	(	double	x_,
		double	y_
	)

Set coordinates, velocities and accelerations are assumed to be zero.

Parameters

[in]	x_	x CoM/ZMP position [meter]
[in]	y_	y CoM/ZMP position [meter]

Definition at line 420 of file smpc_solver.cpp.

set() [2/2]

void smpc::state::set	(	double	x_,
		double	vx_,
		double	ax_,
		double	y_,
		double	vy_,
		double	ay_
	)

Set state to given values.

Parameters

[in]	x_	x CoM/ZMP position [meter]
[in]	vx_	x CoM velocity [meter/s]
[in]	ax_	x CoM acceleration [meter/s^2]
[in]	y_	y CoM/ZMP position [meter]
[in]	vy_	y CoM velocity [meter/s]
[in]	ay_	y CoM acceleration [meter/s^2]

Definition at line 426 of file smpc_solver.cpp.

vx() [1/2]

double& smpc::state::vx ( )

inline

Velocity along X/Y axis.

Definition at line 85 of file smpc_solver.h.

vx() [2/2]

const double& smpc::state::vx ( ) const

inline

Velocity along X/Y axis.

Definition at line 87 of file smpc_solver.h.

vy() [1/2]

double& smpc::state::vy ( )

inline

Velocity along X/Y axis.

Definition at line 86 of file smpc_solver.h.

vy() [2/2]

const double& smpc::state::vy ( ) const

inline

Velocity along X/Y axis.

Definition at line 88 of file smpc_solver.h.

x() [1/2]

double& smpc::state::x ( )

inline

X/Y coordinate.

Definition at line 77 of file smpc_solver.h.

x() [2/2]

const double& smpc::state::x ( ) const

inline

X/Y coordinate.

Definition at line 79 of file smpc_solver.h.

y() [1/2]

double& smpc::state::y ( )

inline

X/Y coordinate.

Definition at line 78 of file smpc_solver.h.

y() [2/2]

const double& smpc::state::y ( ) const

inline

X/Y coordinate.

Definition at line 80 of file smpc_solver.h.

Member Data Documentation

state_vector

double smpc::state::state_vector[SMPC_NUM_STATE_VAR]

state[0] - x CoM or ZMP position [meter]
state[1] - x CoM velocity [meter/s]
state[2] - x CoM acceleration [meter/s^2]
state[3] - y CoM or ZMP position [meter]
state[4] - y CoM velocity [meter/s]
state[5] - y CoM acceleration [meter/s^2]

Definition at line 63 of file smpc_solver.h.

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The documentation for this class was generated from the following files:

• include/smpc_solver.h
• solver/smpc_solver.cpp