smpc_parameters Class Reference

A container for parameters of the SMPC solver. More...

#include <WMG.h>

List of all members.

Public Member Functions
	smpc_parameters (const unsigned int, const double, const double gravity_=9.81)
	Allocate memory and initialize some of the parameters.
	~smpc_parameters ()
	Default destructor.
Public Attributes
double	hCoM
double	gravity
	Height of the CoM.
double *	T
	Norm of the acceleration due to gravity.
double *	h
	Preview sampling time.
double	h0
	h = hCoM/gravity for each preview step
double *	angle
	initial h
smpc::state_orig	init_state
double *	X
	A chunk of memory allocated for solution.
double *	fp_x
	Coordinates of N points satisfying constraints,.
double *	fp_y
	Coordinates of N points satisfying constraints,.
double *	lb
	2*N bounds for coordinates of ZMP position.
double *	ub
	2*N bounds for coordinates of ZMP position.
double *	zref_x
	N reference coordinates of ZMP.
double *	zref_y
	N reference coordinates of ZMP.

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Detailed Description

A container for parameters of the SMPC solver.

Definition at line 54 of file WMG.h.

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Constructor & Destructor Documentation

smpc_parameters::smpc_parameters	(	const unsigned int	N,
		const double	hCoM_,
		const double	gravity_ = 9.81
	)

Allocate memory and initialize some of the parameters.

Parameters:

[in]	N	preview window length
[in]	hCoM_	Height of the Center of Mass [meter]
[in]	gravity_	gravity [m/s^2]

Definition at line 10 of file smpc_parameters.cpp.

smpc_parameters::~smpc_parameters

(

)

Default destructor.

Definition at line 40 of file smpc_parameters.cpp.

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Member Data Documentation

double* smpc_parameters::angle

initial h

Array of N absolute angles corresponding to supports in the preview window.

Definition at line 87 of file WMG.h.

double* smpc_parameters::fp_x

Coordinates of N points satisfying constraints,.

Definition at line 91 of file WMG.h.

double* smpc_parameters::fp_y

Coordinates of N points satisfying constraints,.

Definition at line 92 of file WMG.h.

double smpc_parameters::gravity

Height of the CoM.

Definition at line 79 of file WMG.h.

double* smpc_parameters::h

Preview sampling time.

Definition at line 83 of file WMG.h.

double smpc_parameters::h0

h = hCoM/gravity for each preview step

Definition at line 84 of file WMG.h.

double smpc_parameters::hCoM

Definition at line 77 of file WMG.h.

smpc::state_orig smpc_parameters::init_state

Initial state.

Definition at line 109 of file WMG.h.

double* smpc_parameters::lb

2*N bounds for coordinates of ZMP position.

Definition at line 97 of file WMG.h.

double* smpc_parameters::T

Norm of the acceleration due to gravity.

Definition at line 81 of file WMG.h.

double* smpc_parameters::ub

2*N bounds for coordinates of ZMP position.

Definition at line 98 of file WMG.h.

double* smpc_parameters::X

A chunk of memory allocated for solution.

Definition at line 112 of file WMG.h.

double* smpc_parameters::zref_x

N reference coordinates of ZMP.

Definition at line 103 of file WMG.h.

double* smpc_parameters::zref_y

N reference coordinates of ZMP.

Definition at line 104 of file WMG.h.

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

• include/WMG.h
• WMG/smpc_parameters.cpp