biped_stabilizer::CopStabilizer Class Reference

#include <biped-stabilizer/cop_stabilizer.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CopStabilizer ()
	CopStabilizer (const CopStabilizerSettings &settings)
	CopStabilizer stabilize the CoP around a reference point.
virtual	~CopStabilizer ()
virtual void	configure (const CopStabilizerSettings &settings)
const CopStabilizerSettings &	getSettings ()
void	stabilize (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector3 &actual_cop, const eMatrixHoms &actual_stance_poses, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, const eVector3 &reference_com_jerk, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector3 &desired_cop_reference, eVector3 &desired_cop_computed)
void	stabilize (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector3 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, const eVector3 &reference_com_jerk, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector3 &desired_cop_reference, eVector3 &desired_cop_computed)
void	stabilizeCOP (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector3 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector3 &desired_cop_reference, eVector3 &desired_cop_computed)
void	stabilizeApproximateAcceleration (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector3 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector3 &desired_cop_reference, eVector3 &desired_cop_computed)
void	stabilizeP_CC (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector3 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector3 &desired_cop_reference, eVector3 &desired_cop_computed)
void	stabilizeJerk (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector3 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, const eVector3 &reference_com_jerk, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector3 &desired_cop_reference, eVector3 &desired_cop_computed)
double	distributeForces (const eVector3 &desired_cop, const eVector2 LF_xy, const double LF_force_z, const eVector2 LF_torque_xy, const eVector2 RF_xy, const double RF_force_z, const eVector2 RF_torque_xy)
void	stabilize (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector2 &actual_cop, const eMatrixHoms &actual_stance_poses, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, const eVector3 &reference_com_jerk, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector2 &desired_cop_reference, eVector2 &desired_cop_computed)
void	stabilize (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector2 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, const eVector3 &reference_com_jerk, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector2 &desired_cop_reference, eVector2 &desired_cop_computed)
void	stabilizeCOP (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector2 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector2 &desired_cop_reference, eVector2 &desired_cop_computed)
void	stabilizeApproximateAcceleration (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector2 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector2 &desired_cop_reference, eVector2 &desired_cop_computed)
void	stabilizeP_CC (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector2 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector2 &desired_cop_reference, eVector2 &desired_cop_computed)
void	stabilizeJerk (const eVector3 &actual_com, const eVector3 &actual_com_vel, const eVector3 &actual_com_acc, const eVector2 &actual_cop, const Polygon2D &support_polygon, const eVector3 &reference_com, const eVector3 &reference_com_vel, const eVector3 &reference_com_acc, const eVector3 &reference_com_jerk, eVector3 &desired_com, eVector3 &desired_com_vel, eVector3 &desired_com_acc, eVector3 &desired_icp, eVector3 &actual_icp, eVector2 &desired_cop_reference, eVector2 &desired_cop_computed)
double	distributeForces (const eVector2 &desired_cop, const eVector2 LF_xy, const double LF_force_z, const eVector2 LF_torque_xy, const eVector2 RF_xy, const double RF_force_z, const eVector2 RF_torque_xy)
std::array< eVector3, 3 >	getStableCoMs (const double &com_height)
void	setCOPgains (const eVector3 &cop_x_gains, const eVector3 &cop_y_gains)
void	setPCCgains (const double cop_pcc_gains)
void	setIntegralGains (const eVector2 &integral_gains)

Protected Attributes
Eigen::Vector3d	target_com_
Eigen::Vector3d	target_com_vel_
Eigen::Vector3d	target_com_acc_
Eigen::Vector3d	target_com_jerk_
Eigen::Vector3d	non_linear_
eVector2	target_cop_
eVector2	desired_uncampled_cop_
eVector2	errorSum_
eVector2	cop_clamped
eVector2	estimated_disturbance_

Constructor & Destructor Documentation

CopStabilizer() [1/2]

biped_stabilizer::CopStabilizer::CopStabilizer

(

)

CopStabilizer() [2/2]

biped_stabilizer::CopStabilizer::CopStabilizer

(

const CopStabilizerSettings &

settings

)

CopStabilizer stabilize the CoP around a reference point.

Parameters

settings

the settings for the CoP stabilizer, see CopStabilizerSettings.

~CopStabilizer()

biped_stabilizer::CopStabilizer::~CopStabilizer ( )

virtual

Member Function Documentation

configure()

void biped_stabilizer::CopStabilizer::configure ( const CopStabilizerSettings & settings )

virtual

distributeForces() [1/2]

double biped_stabilizer::CopStabilizer::distributeForces	(	const eVector2 &	desired_cop,
		const eVector2	LF_xy,
		const double	LF_force_z,
		const eVector2	LF_torque_xy,
		const eVector2	RF_xy,
		const double	RF_force_z,
		const eVector2	RF_torque_xy )

distributeForces() [2/2]

double biped_stabilizer::CopStabilizer::distributeForces	(	const eVector3 &	desired_cop,
		const eVector2	LF_xy,
		const double	LF_force_z,
		const eVector2	LF_torque_xy,
		const eVector2	RF_xy,
		const double	RF_force_z,
		const eVector2	RF_torque_xy )

getSettings()

const CopStabilizerSettings & biped_stabilizer::CopStabilizer::getSettings ( )

inline

getStableCoMs()

std::array< eVector3, 3 > biped_stabilizer::CopStabilizer::getStableCoMs

(

const double &

com_height

)

setCOPgains()

void biped_stabilizer::CopStabilizer::setCOPgains	(	const eVector3 &	cop_x_gains,
		const eVector3 &	cop_y_gains )

setIntegralGains()

void biped_stabilizer::CopStabilizer::setIntegralGains

(

const eVector2 &

integral_gains

)

setPCCgains()

void biped_stabilizer::CopStabilizer::setPCCgains

(

const double

cop_pcc_gains

)

stabilize() [1/4]

void biped_stabilizer::CopStabilizer::stabilize	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector2 &	actual_cop,
		const eMatrixHoms &	actual_stance_poses,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		const eVector3 &	reference_com_jerk,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector2 &	desired_cop_reference,
		eVector2 &	desired_cop_computed )

stabilize() [2/4]

void biped_stabilizer::CopStabilizer::stabilize	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector2 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		const eVector3 &	reference_com_jerk,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector2 &	desired_cop_reference,
		eVector2 &	desired_cop_computed )

stabilize() [3/4]

void biped_stabilizer::CopStabilizer::stabilize	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector3 &	actual_cop,
		const eMatrixHoms &	actual_stance_poses,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		const eVector3 &	reference_com_jerk,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector3 &	desired_cop_reference,
		eVector3 &	desired_cop_computed )

stabilize() [4/4]

void biped_stabilizer::CopStabilizer::stabilize	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector3 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		const eVector3 &	reference_com_jerk,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector3 &	desired_cop_reference,
		eVector3 &	desired_cop_computed )

stabilizeApproximateAcceleration() [1/2]

void biped_stabilizer::CopStabilizer::stabilizeApproximateAcceleration	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector2 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector2 &	desired_cop_reference,
		eVector2 &	desired_cop_computed )

Todo

create a low pass filter on the DCM

stabilizeApproximateAcceleration() [2/2]

void biped_stabilizer::CopStabilizer::stabilizeApproximateAcceleration	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector3 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector3 &	desired_cop_reference,
		eVector3 &	desired_cop_computed )

stabilizeCOP() [1/2]

void biped_stabilizer::CopStabilizer::stabilizeCOP	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector2 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector2 &	desired_cop_reference,
		eVector2 &	desired_cop_computed )

Todo

create a low pass filter on the DCM

stabilizeCOP() [2/2]

void biped_stabilizer::CopStabilizer::stabilizeCOP	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector3 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector3 &	desired_cop_reference,
		eVector3 &	desired_cop_computed )

stabilizeJerk() [1/2]

void biped_stabilizer::CopStabilizer::stabilizeJerk	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector2 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		const eVector3 &	reference_com_jerk,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector2 &	desired_cop_reference,
		eVector2 &	desired_cop_computed )

Todo

create a low pass filter on the DCM

stabilizeJerk() [2/2]

void biped_stabilizer::CopStabilizer::stabilizeJerk	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector3 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		const eVector3 &	reference_com_jerk,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector3 &	desired_cop_reference,
		eVector3 &	desired_cop_computed )

stabilizeP_CC() [1/2]

void biped_stabilizer::CopStabilizer::stabilizeP_CC	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector2 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector2 &	desired_cop_reference,
		eVector2 &	desired_cop_computed )

Todo

create a low pass filter on the DCM (actually not in the DCM, it should be on the feedback signal)

stabilizeP_CC() [2/2]

void biped_stabilizer::CopStabilizer::stabilizeP_CC	(	const eVector3 &	actual_com,
		const eVector3 &	actual_com_vel,
		const eVector3 &	actual_com_acc,
		const eVector3 &	actual_cop,
		const Polygon2D &	support_polygon,
		const eVector3 &	reference_com,
		const eVector3 &	reference_com_vel,
		const eVector3 &	reference_com_acc,
		eVector3 &	desired_com,
		eVector3 &	desired_com_vel,
		eVector3 &	desired_com_acc,
		eVector3 &	desired_icp,
		eVector3 &	actual_icp,
		eVector3 &	desired_cop_reference,
		eVector3 &	desired_cop_computed )

Member Data Documentation

cop_clamped

eVector2 biped_stabilizer::CopStabilizer::cop_clamped

protected

desired_uncampled_cop_

eVector2 biped_stabilizer::CopStabilizer::desired_uncampled_cop_

protected

errorSum_

eVector2 biped_stabilizer::CopStabilizer::errorSum_

protected

estimated_disturbance_

eVector2 biped_stabilizer::CopStabilizer::estimated_disturbance_

protected

non_linear_

Eigen::Vector3d biped_stabilizer::CopStabilizer::non_linear_

protected

target_com_

Eigen::Vector3d biped_stabilizer::CopStabilizer::target_com_

protected

target_com_acc_

Eigen::Vector3d biped_stabilizer::CopStabilizer::target_com_acc_

protected

target_com_jerk_

Eigen::Vector3d biped_stabilizer::CopStabilizer::target_com_jerk_

protected

target_com_vel_

Eigen::Vector3d biped_stabilizer::CopStabilizer::target_com_vel_

protected

target_cop_

eVector2 biped_stabilizer::CopStabilizer::target_cop_

protected

---

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

• include/biped-stabilizer/cop_stabilizer.hpp
• src/cop_stabilizer.cpp