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::
Set the initial state of the planner.
| Parameters | |
|---|---|
| initialState | the initial state of the planner |
bool BipedalLocomotion::
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::
Compute the DCM trajectory.
| Returns | true in case of success, false otherwise. |
|---|
bool BipedalLocomotion::
Set the DCM reference.
| Returns | true in case of success, false otherwise. |
|---|