class
CentroidalMPCCentroidalMPC implements a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities.
The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact forces and torques and contact locations. Let us assume the presence of a high-level contact planner that generates only the contact location and timings, the CentroidalMPC objective is to implement a control law that generates feasible contact wrenches and locations while considering the Centroidal dynamics of the floating base system, and a nominal set of contact positions and timings. The control problem is formulated using the Model Predictive Control (MPC) framework.
Base classes
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template<class Output>class BipedalLocomotion::System::Source<CentroidalMPCOutput>
- Source is a template specialization of Advanceable and represents a block that does not contains input.
Constructors, destructors, conversion operators
- CentroidalMPC()
- Constructor.
- ~CentroidalMPC()
- Destructor.
Public functions
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auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool final - Initialize the controller.
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auto setContactPhaseList(const Contacts::
ContactPhaseList& contactPhaseList) -> bool - Set the contact phase list considered by the controller as nominal contact location.
- auto setState(Eigen::Ref<const Eigen::Vector3d> com, Eigen::Ref<const Eigen::Vector3d> dcom, Eigen::Ref<const Eigen::Vector3d> angularMomentum) -> bool
- Set the state of the centroidal dynamics.
-
auto setState(Eigen::Ref<const Eigen::Vector3d> com,
Eigen::Ref<const Eigen::Vector3d> dcom,
Eigen::Ref<const Eigen::Vector3d> angularMomentum,
const Math::
Wrenchd& externalWrench) -> bool - Set the state of the centroidal dynamics.
- auto setReferenceTrajectory(const std::vector<Eigen::Vector3d>& com, const std::vector<Eigen::Vector3d>& angularMomentum) -> bool
- Set the reference trajectories for the CoM and the centroidal angular momentum.
- auto getOutput() const -> const CentroidalMPCOutput& final
- Get the output of the controller.
- auto isOutputValid() const -> bool final
- Determines the validity of the object retrieved with getOutput()
- auto advance() -> bool final
- Perform one control cycle.
Function documentation
bool BipedalLocomotion:: ReducedModelControllers:: CentroidalMPC:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) final
Initialize the controller.
Parameters | |
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handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
Moreover for each contact where number_of_maximum_contacts-1
it is required to define a group CONTACT_<i>
that contains the following parameters
Parameter Name | Type | Description | Mandatory |
---|---|---|---|
contact_name | string | Name associated to the contact. | Yes |
bounding_box_upper_limit | vector<double> | Upper limit of the bounding box where the adjusted contact must belong to. The limits are expressed in the contact local frame. | Yes |
bounding_box_lower_limit | vector<double> | Lower limit of the bounding box where the adjusted contact must belong to. The limits are expressed in the contact local frame. | Yes |
number_of_corners | int | Number of corners associated to the foot. | Yes |
corner_<j> | vector<double> | Position of the corner expressed in the foot frame. I must be from 0 to number_of_corners - 1. | Yes |
bool BipedalLocomotion:: ReducedModelControllers:: CentroidalMPC:: setContactPhaseList(const Contacts:: ContactPhaseList& contactPhaseList)
Set the contact phase list considered by the controller as nominal contact location.
Parameters | |
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contactPhaseList | contact phase. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: ReducedModelControllers:: CentroidalMPC:: setState(Eigen::Ref<const Eigen::Vector3d> com,
Eigen::Ref<const Eigen::Vector3d> dcom,
Eigen::Ref<const Eigen::Vector3d> angularMomentum)
Set the state of the centroidal dynamics.
Parameters | |
---|---|
com | position of the CoM expressed in the inertial frame. |
dcom | velocity of the CoM expressed in a frame centered in the CoM and oriented as the inertial frame. |
angularMomentum | centroidal angular momentum. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: ReducedModelControllers:: CentroidalMPC:: setState(Eigen::Ref<const Eigen::Vector3d> com,
Eigen::Ref<const Eigen::Vector3d> dcom,
Eigen::Ref<const Eigen::Vector3d> angularMomentum,
const Math:: Wrenchd& externalWrench)
Set the state of the centroidal dynamics.
Parameters | |
---|---|
com | position of the CoM expressed in the inertial frame. |
dcom | velocity of the CoM expressed in a frame centered in the CoM and oriented as the inertial frame. |
angularMomentum | centroidal angular momentum. |
externalWrench | optional parameter used to represent an external wrench applied to the robot CoM. |
Returns | True in case of success, false otherwise. |
bool BipedalLocomotion:: ReducedModelControllers:: CentroidalMPC:: setReferenceTrajectory(const std::vector<Eigen::Vector3d>& com,
const std::vector<Eigen::Vector3d>& angularMomentum)
Set the reference trajectories for the CoM and the centroidal angular momentum.
Parameters | |
---|---|
com | desired trajectory of the CoM. The rows contain the x, y and z coordinates while the columns the position at each time instant. |
angularMomentum | centroidal angular momentum. The rows contain the x, y and z coordinates while the columns the trajectory at each time instant. |
Returns | True in case of success, false otherwise. |
const CentroidalMPCOutput& BipedalLocomotion:: ReducedModelControllers:: CentroidalMPC:: getOutput() const final
Get the output of the controller.
Returns | a const reference of the output of the controller. |
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bool BipedalLocomotion:: ReducedModelControllers:: CentroidalMPC:: isOutputValid() const final
Determines the validity of the object retrieved with getOutput()
Returns | True if the object is valid, false otherwise. |
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bool BipedalLocomotion:: ReducedModelControllers:: CentroidalMPC:: advance() final
Perform one control cycle.
Returns | True if the advance is successfull. |
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