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

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Preview ()
	Initialize with zero state and input trajectories. More...

	Preview (const Eigen::VectorXd &stateTraj, const Eigen::VectorXd &inputTraj)
	Initialize solution from trajectories. More...

void	integrate (Pendulum &state, double dt)
	Integrate playback on reference. More...

void	integratePlayback (Pendulum &state, double dt)
	Playback integration of state reference. More...

void	integratePostPlayback (Pendulum &state, double dt)
	Post-playback integration of state reference. More...

unsigned	playbackStep () const
	Get current playback step. More...

double	playbackTime () const
	Get current playback time. More...

Detailed Description

Solution of a model predictive control problem.

Note: A Preview is mostly an integrator. Its implementation is coupled with the formulation of state and input trajectories in the ModelPredictiveControl class.

Definition at line 42 of file Preview.h.

Constructor & Destructor Documentation

lipm_walking::Preview::Preview ( )

Initialize with zero state and input trajectories.

Definition at line 47 of file Preview.cpp.

lipm_walking::Preview::Preview	(	const Eigen::VectorXd &	stateTraj,
		const Eigen::VectorXd &	inputTraj
	)

Initialize solution from trajectories.

Parameters

stateTraj	State trajectory.
inputTraj	Input trajectory.

Definition at line 53 of file Preview.cpp.

void lipm_walking::Preview::integrate	(	Pendulum &	state,
		double	dt
	)

Integrate playback on reference.

Parameters

state	State to integrate.
dt	Duration.

Definition at line 63 of file Preview.cpp.

void lipm_walking::Preview::integratePlayback	(	Pendulum &	state,
		double	dt
	)

Playback integration of state reference.

Parameters

state	State to integrate.
dt	Duration.

Definition at line 75 of file Preview.cpp.

void lipm_walking::Preview::integratePostPlayback	(	Pendulum &	state,
		double	dt
	)

Post-playback integration of state reference.

Parameters

state	State to integrate.
dt	Duration.

Definition at line 88 of file Preview.cpp.

unsigned lipm_walking::Preview::playbackStep ( ) const

inline

Get current playback step.

Definition at line 90 of file Preview.h.

double lipm_walking::Preview::playbackTime ( ) const

inline

Get current playback time.

Definition at line 98 of file Preview.h.