Abstract class providing common interface functions. More...

#include <smpc_solver.h>

Inheritance diagram for smpc::solver:

Public Member Functions
virtual	~solver ()=0
	Virtual destructor. More...

virtual void	set_parameters (const double T, const double h, const double h_initial, const double angle, const double zref_x, const double zref_y, const double lb, const double *ub)=0
	Initializes quadratic problem. More...

virtual void	solve ()=0
	Solve QP problem. More...

virtual void	get_first_controls (control &c) const =0
	Returns the controls that must be applied to reach the next state. More...

virtual void	get_controls (control &c, const int ind) const =0
	The same as get_first_controls, but takes an additional parameter - the index of the control inputs. Control[ind] is applied to State[ind-1] to reach State[ind]. More...


virtual void	form_init_fp (const double x_coord, const double y_coord, const state_com &init_state, double *X)=0
	Generates an initial feasible point. More...

virtual void	form_init_fp (const double x_coord, const double y_coord, const state_zmp &init_state, double *X)=0
	Generates an initial feasible point. More...


virtual void	get_next_state (state_com &s) const =0
	Returns the next state. More...

virtual void	get_next_state (state_zmp &s) const =0
	Returns the next state. More...


virtual void	get_state (state_com &s, const int ind) const =0
	Returns a state with given index. More...

virtual void	get_state (state_zmp &s, const int ind) const =0
	Returns a state with given index. More...

Detailed Description

Abstract class providing common interface functions.

Definition at line 201 of file smpc_solver.h.

Constructor & Destructor Documentation

◆ ~solver()

smpc::solver::~solver ( )

pure virtual

Virtual destructor.

Definition at line 43 of file smpc_solver.cpp.

Member Function Documentation

◆ form_init_fp() [1/2]

virtual void smpc::solver::form_init_fp	(	const double *	x_coord,
		const double *	y_coord,
		const state_com &	init_state,
		double *	X
	)

pure virtual

Generates an initial feasible point.

Parameters

[in]	x_coord	x coordinates of points satisfying constraints
[in]	y_coord	y coordinates of points satisfying constraints
[in]	init_state	initial state (smpc::state_com or smpc::state_zmp)
[in,out]	X	solution of optimization problem

Implemented in smpc::solver_ip, and smpc::solver_as.

◆ form_init_fp() [2/2]

virtual void smpc::solver::form_init_fp	(	const double *	x_coord,
		const double *	y_coord,
		const state_zmp &	init_state,
		double *	X
	)

pure virtual

Generates an initial feasible point.

Parameters

[in]	x_coord	x coordinates of points satisfying constraints
[in]	y_coord	y coordinates of points satisfying constraints
[in]	init_state	initial state (smpc::state_com or smpc::state_zmp)
[in,out]	X	solution of optimization problem

Implemented in smpc::solver_ip, and smpc::solver_as.

◆ get_controls()

virtual void smpc::solver::get_controls	(	control &	c,
		const int	ind
	)		const

pure virtual

The same as get_first_controls, but takes an additional parameter - the index of the control inputs. Control[ind] is applied to State[ind-1] to reach State[ind].

Parameters

[out]	c	an output control vector
[in]	ind	index of control inputs [0 : N-1].

Implemented in smpc::solver_ip, and smpc::solver_as.

◆ get_first_controls()

virtual void smpc::solver::get_first_controls ( control & c ) const

pure virtual

Returns the controls that must be applied to reach the next state.

Parameters

[out] c an output control vector

Implemented in smpc::solver_ip, and smpc::solver_as.

◆ get_next_state() [1/2]

virtual void smpc::solver::get_next_state ( state_com & s ) const

pure virtual

Returns the next state.

Parameters

[out] s an output state.

Implemented in smpc::solver_ip, and smpc::solver_as.

◆ get_next_state() [2/2]

virtual void smpc::solver::get_next_state ( state_zmp & s ) const

pure virtual

Returns the next state.

Parameters

[out] s an output state.

Implemented in smpc::solver_ip, and smpc::solver_as.

◆ get_state() [1/2]

virtual void smpc::solver::get_state	(	state_com &	s,
		const int	ind
	)		const

pure virtual

Returns a state with given index.

Parameters

[out]	s	an output state.
[in]	ind	index of a state [0 : N-1].

Implemented in smpc::solver_ip, and smpc::solver_as.

◆ get_state() [2/2]

virtual void smpc::solver::get_state	(	state_zmp &	s,
		const int	ind
	)		const

pure virtual

Returns a state with given index.

Parameters

[out]	s	an output state.
[in]	ind	index of a state [0 : N-1].

Implemented in smpc::solver_ip, and smpc::solver_as.

◆ set_parameters()

virtual void smpc::solver::set_parameters	(	const double *	T,
		const double *	h,
		const double	h_initial,
		const double *	angle,
		const double *	zref_x,
		const double *	zref_y,
		const double *	lb,
		const double *	ub
	)

pure virtual

Initializes quadratic problem.

Parameters

[in]	T	sampling time for each time step [sec.]
[in]	h	height of the center of mass divided by gravity for each time step
[in]	h_initial	initial value of height of the center of mass divided by gravity
[in]	angle	rotation angle for each state relative to the world frame
[in]	zref_x	reference values of x coordinate of ZMP
[in]	zref_y	reference values of y coordinate of ZMP
[in]	lb	array of lower bounds for coordinates of ZMP
[in]	ub	array of upper bounds for coordinates of ZMP