BipedalLocomotion::Planners::TimeVaryingDCMPlanner class
#include <BipedalLocomotion/Planners/TimeVaryingDCMPlanner.h>

DCMPlanner 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
handler	pointer to the parameter handler.
Returns	true in case of success/false otherwise.

Note

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`linear_solver`	`string`	Linear solver used by ipopt, the default value is mumps. Please check here for the available solvers	No
`planner_sampling_time`	`double`	Sampling time of the planner	Yes
`number_of_foot_corners`	`int`	Number of the corner of the polygon used to describe the foot. E.g. 4	Yes
`foot_corner_<i>`	`Vector3d`	A 3d vector describing the position of the corner w.r.t. frame associated to the foot. `i = 0:number_of_foot_corners`.	Yes
`omega_dot_weight`	`double`	Weight associated to the	Yes
`dcm_tracking_weight`	`double`	Weight associated to the DCM tracking	Yes
`omega_dot_rate_of_change_weight`	`double`	Weight associated to the rate of change of	Yes
`vrp_rate_of_change_weight`	`double`	Weight associated to the rate of change of the VRP	Yes
`dcm_rate_of_change_weight`	`double`	Weight associated to the rate of change of the DCM	Yes
`use_external_dcm_reference`	`bool`	Set this option to true if you want provide an external DCM reference with TimeVaryingDCMPlanner::setDCMReference(). (Default value False)	No
`gravity`	`double`	Value of the gravity acceleration. It should be a positive number (Default Math::StandardAccelerationOfGravitation )	No

bool BipedalLocomotion::Planners::TimeVaryingDCMPlanner::computeTrajectory() final

Compute the DCM trajectory.

Returns	true in case of success, false otherwise.

bool BipedalLocomotion::Planners::TimeVaryingDCMPlanner::setContactPhaseList(const Contacts::ContactPhaseList& contactPhaseList) final

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::TimeVaryingDCMPlanner::setDCMReference(Eigen::Ref<const Eigen::MatrixXd> dcmReference) final

Set the DCM reference.

Parameters
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
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.

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.

bool BipedalLocomotion::Planners::TimeVaryingDCMPlanner::advance() final

Advance the internal state.

Returns	True if the advance is successfull.

This may change the value retrievable from get().