A container for parameters of the SMPC solver. More...

#include <WMG.h>

Public Member Functions
	smpc_parameters (const unsigned int, const double, const double gravity_=9.81)
	Allocate memory and initialize some of the parameters. More...

	~smpc_parameters ()
	Default destructor. More...

Public Attributes
double	hCoM

double	gravity
	Height of the CoM. More...

double *	T
	Norm of the acceleration due to gravity. More...

double *	h
	Preview sampling time. More...

double	h0
	h = hCoM/gravity for each preview step More...

double *	angle
	initial h More...

smpc::state_com	init_state

double *	X
	A chunk of memory allocated for solution. More...


double *	fp_x
	Coordinates of N points satisfying constraints,. More...

double *	fp_y
	Coordinates of N points satisfying constraints,. More...


double *	lb
	2*N bounds for coordinates of ZMP position. More...

double *	ub
	2*N bounds for coordinates of ZMP position. More...


double *	zref_x
	N reference coordinates of ZMP. More...

double *	zref_y
	N reference coordinates of ZMP. More...

Detailed Description

A container for parameters of the SMPC solver.

Definition at line 55 of file WMG.h.

Constructor & Destructor Documentation

◆ smpc_parameters()

smpc_parameters::smpc_parameters	(	const unsigned int	N,
		const double	hCoM_,
		const double	gravity_ = `9.81`
	)

Allocate memory and initialize some of the parameters.

Parameters

[in]	N	preview window length
[in]	hCoM_	Height of the Center of Mass [meter]
[in]	gravity_	gravity [m/s^2]

Definition at line 10 of file smpc_parameters.cpp.

◆ ~smpc_parameters()

smpc_parameters::~smpc_parameters ( )

Default destructor.

Definition at line 40 of file smpc_parameters.cpp.

Member Data Documentation

◆ angle

double* smpc_parameters::angle

initial h

Array of N absolute angles corresponding to supports in the preview window.

Definition at line 88 of file WMG.h.

◆ fp_x

double* smpc_parameters::fp_x

Coordinates of N points satisfying constraints,.

Definition at line 92 of file WMG.h.

◆ fp_y

double* smpc_parameters::fp_y

Coordinates of N points satisfying constraints,.

Definition at line 93 of file WMG.h.

◆ gravity

double smpc_parameters::gravity

Height of the CoM.

Definition at line 80 of file WMG.h.

◆ h

double* smpc_parameters::h

Preview sampling time.

Definition at line 84 of file WMG.h.

◆ h0

double smpc_parameters::h0

h = hCoM/gravity for each preview step

Definition at line 85 of file WMG.h.

◆ hCoM

double smpc_parameters::hCoM

Definition at line 78 of file WMG.h.

◆ init_state

smpc::state_com smpc_parameters::init_state

Initial state.

Definition at line 110 of file WMG.h.

◆ lb

double* smpc_parameters::lb

2*N bounds for coordinates of ZMP position.

Definition at line 98 of file WMG.h.

◆ T

double* smpc_parameters::T

Norm of the acceleration due to gravity.

Definition at line 82 of file WMG.h.

◆ ub

double* smpc_parameters::ub

2*N bounds for coordinates of ZMP position.

Definition at line 99 of file WMG.h.

◆ X

double* smpc_parameters::X

A chunk of memory allocated for solution.

Definition at line 113 of file WMG.h.

◆ zref_x

double* smpc_parameters::zref_x

N reference coordinates of ZMP.

Definition at line 104 of file WMG.h.

◆ zref_y

double* smpc_parameters::zref_y