BipedalLocomotion::Planners::DCMPlanner class

DCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).

Please inherit publicly from this class in order to define your planner.

Base classes

template<class Output>
class BipedalLocomotion::System::Source<DCMPlannerState>
Source is a template specialization of Advanceable and represents a block that does not contains input.

Derived classes

class TimeVaryingDCMPlanner
DCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).

Constructors, destructors, conversion operators

~DCMPlanner() defaulted virtual
Destructor.

Public functions

void setInitialState(const DCMPlannerState& initialState) virtual
Set the initial state of the planner.
auto setContactPhaseList(const Contacts::ContactPhaseList& contactPhaseList) -> bool virtual
Set the contact phase list.
auto computeTrajectory() -> bool pure virtual
Compute the DCM trajectory.
auto setDCMReference(Eigen::Ref<const Eigen::MatrixXd> dcmReference) -> bool virtual
Set the DCM reference.

Protected variables

Contacts::ContactPhaseList m_contactPhaseList
Contact phases.
DCMPlannerState m_initialState
Initial state of the planner.

Function documentation

void BipedalLocomotion::Planners::DCMPlanner::setInitialState(const DCMPlannerState& initialState) virtual

Set the initial state of the planner.

Parameters
initialState the initial state of the planner

bool BipedalLocomotion::Planners::DCMPlanner::setContactPhaseList(const Contacts::ContactPhaseList& contactPhaseList) virtual

Set the contact phase list.

Parameters
contactPhaseList pointer containing the list of the contact phases
Returns true in case of success, false otherwise.

bool BipedalLocomotion::Planners::DCMPlanner::computeTrajectory() pure virtual

Compute the DCM trajectory.

Returns true in case of success, false otherwise.

bool BipedalLocomotion::Planners::DCMPlanner::setDCMReference(Eigen::Ref<const Eigen::MatrixXd> dcmReference) virtual

Set the DCM reference.

Returns true in case of success, false otherwise.