Pendulum.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * this list of conditions and the following disclaimer.
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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#pragma once

#include <mc_tasks/CoMTask.h>

#include <lipm_walking/Contact.h>

namespace lipm_walking
{

struct Pendulum
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Pendulum(const Eigen::Vector3d & com = Eigen::Vector3d::Zero(),
           const Eigen::Vector3d & comd = Eigen::Vector3d::Zero(),
           const Eigen::Vector3d & comdd = Eigen::Vector3d::Zero());

  void completeIPM(const Contact & plane);

  void integrateCoMJerk(const Eigen::Vector3d & comddd, double dt);

  void integrateIPM(Eigen::Vector3d zmp, double lambda, double dt);

  void reset(const Eigen::Vector3d & com,
             const Eigen::Vector3d & comd = Eigen::Vector3d::Zero(),
             const Eigen::Vector3d & comdd = Eigen::Vector3d::Zero());

  void resetCoMHeight(double height, const Contact & contact);

  const Eigen::Vector3d & com() const
  {
    return com_;
  }

  const Eigen::Vector3d & comd() const
  {
    return comd_;
  }

  const Eigen::Vector3d & comdd() const
  {
    return comdd_;
  }

  Eigen::Vector3d dcm() const
  {
    return com_ + comd_ / omega_;
  }

  double omega() const
  {
    return omega_;
  }

  const Eigen::Vector3d & zmp() const
  {
    return zmp_;
  }

  const Eigen::Vector3d & zmpd() const
  {
    return zmpd_;
  }

protected:
  Eigen::Vector3d com_; 
  Eigen::Vector3d comd_; 
  Eigen::Vector3d comdd_; 
  Eigen::Vector3d comddd_; 
  Eigen::Vector3d zmp_; 
  Eigen::Vector3d zmpd_; 
  double omega_; 
};

} // namespace lipm_walking