class
TimeVaryingDCMPlannerDCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).
Base classes
- class DCMPlanner
- DCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).
Constructors, destructors, conversion operators
- TimeVaryingDCMPlanner()
- Constructor.
- ~TimeVaryingDCMPlanner() override
- Destructor.
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool override - Initialize the planner.
- auto computeTrajectory() -> bool final
- Compute the DCM trajectory.
-
auto setContactPhaseList(const Contacts::
ContactPhaseList& contactPhaseList) -> bool final - Set the contact phase list.
- auto setDCMReference(Eigen::Ref<const Eigen::MatrixXd> dcmReference) -> bool final
- Set the DCM reference.
- void setInitialState(const DCMPlannerState& initialState) final
- Set the initial state of the planner.
- auto getOutput() const -> const DCMPlannerState& final
- Get the object.
- auto isOutputValid() const -> bool final
- Determines the validity of the object retrieved with get()
- auto advance() -> bool final
- Advance the internal state.
Function documentation
bool BipedalLocomotion:: Planners:: TimeVaryingDCMPlanner:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) override
Initialize the planner.
Parameters | |
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handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
bool BipedalLocomotion:: Planners:: TimeVaryingDCMPlanner:: computeTrajectory() final
Compute the DCM trajectory.
Returns | true in case of success, false otherwise. |
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bool BipedalLocomotion:: Planners:: TimeVaryingDCMPlanner:: setContactPhaseList(const Contacts:: ContactPhaseList& contactPhaseList) final
Set the contact phase list.
Parameters | |
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contactPhaseList | pointer containing the list of the contact phases |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: Planners:: TimeVaryingDCMPlanner:: setDCMReference(Eigen::Ref<const Eigen::MatrixXd> dcmReference) final
Set the DCM reference.
Parameters | |
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dcmReference | matrix containing the DCM trajectory. dcmReference must be a 3 x n matrix where the rows are the x y and z coordinates of the DCM and the columns contain the trajectory of the DCM. |
Returns | true in case of success, false otherwise. |
This value will be used as regularization term from the planner.
void BipedalLocomotion:: Planners:: TimeVaryingDCMPlanner:: setInitialState(const DCMPlannerState& initialState) final
Set the initial state of the planner.
Parameters | |
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initialState | the initial state of the planner |
const DCMPlannerState& BipedalLocomotion:: Planners:: TimeVaryingDCMPlanner:: getOutput() const final
Get the object.
Returns | a const reference of the requested object. |
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bool BipedalLocomotion:: Planners:: TimeVaryingDCMPlanner:: isOutputValid() const final
Determines the validity of the object retrieved with get()
Returns | True if the object is valid, false otherwise. |
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