A set of problem parameters. More...

#include <ip_problem_param.h>

Inheritance diagram for IP::problem_parameters:

Public Member Functions
	problem_parameters (const int, const double, const double, const double, const double)

	~problem_parameters ()

void	set_state_parameters (const double , const double , const double, const double *)
	Initializes quadratic problem. More...

Public Attributes
int	N

double	h_initial
	Height of the CoM at initial state divided by the gravity, this initial state precede the first state in the preview window. More...

state_parameters *	spar


double	i2Q [3]


double	i2P

Detailed Description

A set of problem parameters.

Definition at line 48 of file ip_problem_param.h.

Constructor & Destructor Documentation

◆ problem_parameters()

IP::problem_parameters::problem_parameters	(	const int	N_,
		const double	gain_position,
		const double	gain_velocity,
		const double	gain_acceleration,
		const double	gain_jerk
	)

Definition at line 23 of file ip_problem_param.cpp.

◆ ~problem_parameters()

IP::problem_parameters::~problem_parameters ( )

Definition at line 43 of file ip_problem_param.cpp.

Member Function Documentation

◆ set_state_parameters()

void IP::problem_parameters::set_state_parameters	(	const double *	T_,
		const double *	h_,
		const double	h_initial_,
		const double *	angle
	)

Initializes quadratic problem.

Parameters

[in]	T_	Sampling time (for the moment it is assumed to be constant) [sec.]
[in]	h_	Height of the Center of Mass divided by gravity
[in]	h_initial_	current h
[in]	angle	Rotation angle for each state in the preview window

Definition at line 57 of file ip_problem_param.cpp.

Member Data Documentation

◆ h_initial

double IP::problem_parameters::h_initial

Height of the CoM at initial state divided by the gravity, this initial state precede the first state in the preview window.

Definition at line 73 of file ip_problem_param.h.

◆ i2P

double IP::problem_parameters::i2P

Control related penalty.

Definition at line 68 of file ip_problem_param.h.

◆ i2Q

double IP::problem_parameters::i2Q[3]

State related penalty.

Definition at line 63 of file ip_problem_param.h.

◆ N

int IP::problem_parameters::N

Number of iterations in a preview window.

Definition at line 58 of file ip_problem_param.h.

◆ spar

state_parameters* IP::problem_parameters::spar

Definition at line 75 of file ip_problem_param.h.

The documentation for this class was generated from the following files:

solver/ip_problem_param.h
solver/ip_problem_param.cpp

Public Member Functions

Public Attributes