Main controller class. More...

#include <lipm_walking/Controller.h>

Inheritance diagram for lipm_walking::Controller:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Controller (std::shared_ptr< mc_rbdyn::RobotModule > robot, double dt, const mc_rtc::Configuration &config)
	Initialize the controller. More...

void	reset (const mc_control::ControllerResetData &data) override
	Reset controller. More...

void	addGUIElements (std::shared_ptr< mc_rtc::gui::StateBuilder > gui)
	Add GUI panel. More...

void	addGUIMarkers (std::shared_ptr< mc_rtc::gui::StateBuilder > gui)
	Add GUI markers. More...

void	addLogEntries (mc_rtc::Logger &logger)
	Log controller entries. More...

void	internalReset ()
	Reset robot to its initial (half-sitting) configuration. More...

void	leftFootRatio (double ratio)
	Set fraction of total weight that should be sustained by the left foot. More...

void	loadFootstepPlan (std::string name)
	Load footstep plan from configuration. More...

void	pauseWalkingCallback (bool verbose=false)
	Callback function called by "Pause walking" button. More...

virtual bool	run () override
	Main function of the controller, called at every control cycle. More...

void	startLogSegment (const std::string &label)
	Start new log segment. More...

void	stopLogSegment ()
	Stop current log segment. More...

bool	updatePreview ()
	Update horizontal MPC preview. More...

void	updateRealFromKinematics ()
	Update measured robot's floating base from kinematic observer. More...

void	warnIfRobotIsInTheAir ()
	Log a warning message when robot is in the air. More...

mc_rbdyn::Robot &	controlRobot ()
	Get control robot state. More...

double	doubleSupportDuration ()
	Get next double support duration. More...

bool	isLastDSP ()
	True after the last step. More...

bool	isLastSSP ()
	True during the last step. More...

double	leftFootRatio ()
	Get fraction of total weight that should be sustained by the left foot. More...

double	measuredLeftFootRatio ()
	Estimate left foot pressure ratio from force sensors. More...

ModelPredictiveControl &	mpc ()
	Get model predictive control solver. More...

const Contact &	nextContact () const
	Get next contact in plan. More...

void	nextDoubleSupportDuration (double duration)
	Override next DSP duration. More...

Pendulum &	pendulum ()
	This getter is only used for consistency with the rest of mc_rtc. More...

const Contact &	prevContact () const
	Get previous contact in plan. More...

mc_rbdyn::Robot &	realRobot ()
	Get observed robot state. More...

double	singleSupportDuration ()
	Get next SSP duration. More...

const Sole &	sole () const
	Get model sole properties. More...

Stabilizer &	stabilizer ()
	This getter is only used for consistency with the rest of mc_rtc. More...

const Contact &	supportContact ()
	Get current support contact. More...

const Contact &	targetContact ()
	Get current target contact. More...

Public Attributes
FootstepPlan	plan
	Current footstep plan. More...

PlanInterpolator	planInterpolator
	Footstep plan interpolator. More...

bool	emergencyStop = false
	Emergency flag: if on, the controller stops doing anything. More...

bool	pauseWalking = false
	Is the pause-walking behavior engaged? More...

bool	pauseWalkingRequested = false
	Has user clicked on the "Pause walking" button? More...

std::shared_ptr< Preview >	preview
	Current solution trajectory from the walking pattern generator. More...

std::shared_ptr< mc_tasks::OrientationTask >	pelvisTask
	Pelvis orientation task. More...

std::shared_ptr< mc_tasks::OrientationTask >	torsoTask
	Torso orientation task. More...

std::vector< std::vector< double > >	halfSitPose
	Half-sit joint-angle configuration stored when the controller starts. More...

Detailed Description

Main controller class.

Definition at line 67 of file Controller.h.

Constructor & Destructor Documentation

lipm_walking::Controller::Controller	(	std::shared_ptr< mc_rbdyn::RobotModule >	robot,
		double	dt,
		const mc_rtc::Configuration &	config
	)

Initialize the controller.

Parameters

robot	Robot model.
dt	Control timestep.
config	Configuration dictionary.

Definition at line 36 of file Controller.cpp.

Member Function Documentation

void lipm_walking::Controller::addGUIElements ( std::shared_ptr< mc_rtc::gui::StateBuilder > gui )

Add GUI panel.

Parameters

gui	GUI handle.

Definition at line 187 of file Controller.cpp.

void lipm_walking::Controller::addGUIMarkers ( std::shared_ptr< mc_rtc::gui::StateBuilder > gui )

Add GUI markers.

Parameters

gui	GUI handle.

void lipm_walking::Controller::addLogEntries ( mc_rtc::Logger & logger )

Log controller entries.

Parameters

logger Logger.

Definition at line 144 of file Controller.cpp.

mc_rbdyn::Robot& lipm_walking::Controller::controlRobot ( )

inline

Get control robot state.

Definition at line 175 of file Controller.h.

double lipm_walking::Controller::doubleSupportDuration ( )

inline

Get next double support duration.

Definition at line 183 of file Controller.h.

void lipm_walking::Controller::internalReset ( )

Reset robot to its initial (half-sitting) configuration.

The reason why I do it inside the controller rather than via the current mc_rtc way (switching to half_sitting controller then back to this one) is https://gite.lirmm.fr/multi-contact/mc_rtc/issues/54.

Definition at line 358 of file Controller.cpp.

bool lipm_walking::Controller::isLastDSP ( )

inline

True after the last step.

Definition at line 201 of file Controller.h.

bool lipm_walking::Controller::isLastSSP ( )

inline

True during the last step.

Definition at line 209 of file Controller.h.

void lipm_walking::Controller::leftFootRatio ( double ratio )

Set fraction of total weight that should be sustained by the left foot.

Parameters

ratio Number between 0 and 1.

Definition at line 400 of file Controller.cpp.

double lipm_walking::Controller::leftFootRatio ( )

inline

Get fraction of total weight that should be sustained by the left foot.

Definition at line 217 of file Controller.h.

void lipm_walking::Controller::loadFootstepPlan ( std::string name )

Load footstep plan from configuration.

Parameters

name	Plan name.

Definition at line 525 of file Controller.cpp.

double lipm_walking::Controller::measuredLeftFootRatio ( )

inline

Estimate left foot pressure ratio from force sensors.

Definition at line 225 of file Controller.h.

ModelPredictiveControl& lipm_walking::Controller::mpc ( )

inline

Get model predictive control solver.

Definition at line 237 of file Controller.h.

const Contact& lipm_walking::Controller::nextContact ( ) const

inline

Get next contact in plan.

Definition at line 245 of file Controller.h.

void lipm_walking::Controller::nextDoubleSupportDuration ( double duration )

inline

Override next DSP duration.

Parameters

duration Custom DSP duration.

Definition at line 255 of file Controller.h.

void lipm_walking::Controller::pauseWalkingCallback ( bool verbose = false )

Callback function called by "Pause walking" button.

Parameters

verbose Talk to user on the command line.

Definition at line 455 of file Controller.cpp.

Pendulum& lipm_walking::Controller::pendulum ( )

inline

This getter is only used for consistency with the rest of mc_rtc.

Definition at line 263 of file Controller.h.

const Contact& lipm_walking::Controller::prevContact ( ) const

inline

Get previous contact in plan.

Definition at line 271 of file Controller.h.

mc_rbdyn::Robot& lipm_walking::Controller::realRobot ( )

inline

Get observed robot state.

Definition at line 279 of file Controller.h.

void lipm_walking::Controller::reset ( const mc_control::ControllerResetData & data )

override

Reset controller.

Parameters

data	Reset data.

Definition at line 349 of file Controller.cpp.

bool lipm_walking::Controller::run ( )

overridevirtual

Main function of the controller, called at every control cycle.

Definition at line 411 of file Controller.cpp.

double lipm_walking::Controller::singleSupportDuration ( )

inline

Get next SSP duration.

Definition at line 287 of file Controller.h.

const Sole& lipm_walking::Controller::sole ( ) const

inline

Get model sole properties.

Definition at line 295 of file Controller.h.

Stabilizer& lipm_walking::Controller::stabilizer ( )

inline

This getter is only used for consistency with the rest of mc_rtc.

Definition at line 303 of file Controller.h.

void lipm_walking::Controller::startLogSegment ( const std::string & label )

Start new log segment.

Parameters

label Segment label.

Definition at line 558 of file Controller.cpp.

void lipm_walking::Controller::stopLogSegment ( )

Stop current log segment.

Definition at line 568 of file Controller.cpp.

const Contact& lipm_walking::Controller::supportContact ( )

inline

Get current support contact.

Definition at line 311 of file Controller.h.

const Contact& lipm_walking::Controller::targetContact ( )

inline

Get current target contact.

Definition at line 319 of file Controller.h.

bool lipm_walking::Controller::updatePreview ( )

Update horizontal MPC preview.

Definition at line 574 of file Controller.cpp.

void lipm_walking::Controller::updateRealFromKinematics ( )

Update measured robot's floating base from kinematic observer.

Definition at line 509 of file Controller.cpp.

void lipm_walking::Controller::warnIfRobotIsInTheAir ( )

Log a warning message when robot is in the air.

Definition at line 485 of file Controller.cpp.

Member Data Documentation

bool lipm_walking::Controller::emergencyStop = false

Emergency flag: if on, the controller stops doing anything.

Definition at line 327 of file Controller.h.

std::vector<std::vector<double> > lipm_walking::Controller::halfSitPose

Half-sit joint-angle configuration stored when the controller starts.

Definition at line 334 of file Controller.h.

bool lipm_walking::Controller::pauseWalking = false

Is the pause-walking behavior engaged?

Definition at line 328 of file Controller.h.

bool lipm_walking::Controller::pauseWalkingRequested = false

Has user clicked on the "Pause walking" button?

Definition at line 329 of file Controller.h.

std::shared_ptr<mc_tasks::OrientationTask> lipm_walking::Controller::pelvisTask

Pelvis orientation task.

Definition at line 331 of file Controller.h.

FootstepPlan lipm_walking::Controller::plan

Current footstep plan.

Definition at line 325 of file Controller.h.

PlanInterpolator lipm_walking::Controller::planInterpolator

Footstep plan interpolator.

Definition at line 326 of file Controller.h.

std::shared_ptr<Preview> lipm_walking::Controller::preview

Current solution trajectory from the walking pattern generator.

Definition at line 330 of file Controller.h.

std::shared_ptr<mc_tasks::OrientationTask> lipm_walking::Controller::torsoTask

Torso orientation task.

Definition at line 332 of file Controller.h.

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation