BipedalLocomotion::JointLevelControllers::EMAWithLimits class
#include <BipedalLocomotion/JointLevelControllers/EMAWithLimits.h>

Exponential Moving Average (EMA) with Joint Limits.

This class implements an Exponential Moving Average (EMA) controller that applies limits to the joint values. The EMA is computed based on the input reference and feedback signals, and the output is adjusted to respect the specified joint limits. The controller applies a scaling factor to the input signals and has options for softening the limits.

Base classes

template<class _Input, class _Output> class BipedalLocomotion::System::Advanceable<Eigen::VectorXd, Eigen::VectorXd>: Basic class that represents a discrete system.

Constructors, destructors, conversion operators

EMAWithLimits(): Constructor.
~EMAWithLimits(): Destructor.

Public functions

auto initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> paramHandler) -> bool override: Initialize the EMAWithLimits.
auto setInput(const EMAWithLimits::Input& input) -> bool override: Set the input of the EMAWithLimits.
auto advance() -> bool override: Perform one step of the inference given the input set.
auto getOutput() const -> const EMAWithLimits::Output& override: Get the output of the EMAWithLimits once advance has been called.
auto isOutputValid() const -> bool override: Check if the output of the EMAWithLimits is valid.
void reset(): Reset the EMAWithLimits with a new input.

Function documentation

BipedalLocomotion::JointLevelControllers::EMAWithLimits::~EMAWithLimits()

Destructor.

It is required by the pimpl implementation.

bool BipedalLocomotion::JointLevelControllers::EMAWithLimits::initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> paramHandler) override

Initialize the EMAWithLimits.

Parameters
paramHandler	pointer to the parameters handler.
Returns	True in case of success, false otherwise.

Note

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`scale`	`double`	Scaling factor applied to some computation	Yes
`alpha`	`double`	Weighting factor or coefficient for adjustments	Yes
`lower_limit`	`vector`	Array specifying the lower limits for the joints	Yes
`upper_limit`	`vector`	Array specifying the upper limits for the joints	Yes
`soft_limit_factor`	`vector`	Factor to soften or scale the limits (default is 1.0)	No

bool BipedalLocomotion::JointLevelControllers::EMAWithLimits::setInput(const EMAWithLimits::Input& input) override

Set the input of the EMAWithLimits.

Parameters
input	the struct containing all the inputs of the EMAWithLimits.
Returns	true if case of success, false otherwise.

bool BipedalLocomotion::JointLevelControllers::EMAWithLimits::advance() override

Perform one step of the inference given the input set.

Returns	true if case of success, false otherwise.

const EMAWithLimits::Output& BipedalLocomotion::JointLevelControllers::EMAWithLimits::getOutput() const override

Get the output of the EMAWithLimits once advance has been called.

Returns	the output of the EMAWithLimits.

bool BipedalLocomotion::JointLevelControllers::EMAWithLimits::isOutputValid() const override

Check if the output of the EMAWithLimits is valid.

Returns	true if it is valid, false otherwise.