Main controller namespace. More...

Namespaces
	states
	States of the controller's finite state machine.

Classes
struct	Contact
	Contacts wrap foot frames with extra info from the footstep plan. More...

struct	Controller
	Main controller class. More...

struct	FloatingBaseObserver
	Kinematics-only floating-base observer. More...

struct	FootstepPlan
	Sequence of footsteps with gait parameters. More...

struct	ModelPredictiveControl
	Model predictive control problem. More...

struct	NetWrenchObserver
	Observe net contact wrench from force/torque measurements. More...

struct	Pendulum
	State of the inverted pendulum model. More...

struct	PlanInterpolator
	Footstep plan interpolator. More...

struct	Preview
	Solution of a model predictive control problem. More...

struct	Sole
	Foot sole properties. More...

struct	Stabilizer
	Walking stabilization based on linear inverted pendulum tracking. More...

struct	State
	Convenience wrapper for FSM states. More...

struct	SwingFoot
	Swing foot interpolator. More...

Typedefs
using	HrepXd = std::pair< Eigen::MatrixXd, Eigen::VectorXd >

Enumerations
enum	ContactState { ContactState::DoubleSupport, ContactState::LeftFoot, ContactState::RightFoot }
	Contact state: set of feet in contact. More...

Functions
Contact	operator* (const sva::PTransformd &X, const Contact &contact)
	Apply Plucker transform to contact frame. More...

double	floorn (double x, int n)

Variables
constexpr double	PREVIEW_UPDATE_PERIOD = ModelPredictiveControl::SAMPLING_PERIOD
	Preview update period, same as MPC sampling period. More...

Detailed Description

Main controller namespace.

Typedef Documentation

using lipm_walking::HrepXd = typedef std::pair<Eigen::MatrixXd, Eigen::VectorXd>

Definition at line 43 of file Contact.h.

strong

Contact state: set of feet in contact.

Definition at line 48 of file Contact.h.

inline

Definition at line 35 of file PlanInterpolator.cpp.

Contact lipm_walking::operator*	(	const sva::PTransformd &	X,
		const Contact &	contact
	)

inline

Apply Plucker transform to contact frame.

Parameters

X	Transform to apply.
contact	Contact frame.

Definition at line 332 of file Contact.h.

constexpr double lipm_walking::PREVIEW_UPDATE_PERIOD = ModelPredictiveControl::SAMPLING_PERIOD

Preview update period, same as MPC sampling period.

Definition at line 62 of file Controller.h.