smpc::state Class Reference

An abstract class representing state. More...

#include <smpc_solver.h>

Inheritance diagram for smpc::state:

List of all members.

Public Member Functions
	state ()
	Default constructor (everything set to 0).
double &	x ()
	X coordinate.
double &	vx ()
	Velocity along X axis.
double &	ax ()
	Acceleration along X axis.
double &	y ()
	Y coordinate.
double &	vy ()
	Velocity along Y axis.
double &	ay ()
	Acceleration along Y axis.
virtual void	get_next_state (const solver &smpc_solver)=0
	Returns the next state.
virtual void	get_state (const solver &smpc_solver, const int ind)=0
	The same as get_next_state, but takes an additional parameter - index of the desired state in the state vector.
void	set (double x_, double y_)
	Set coordinates, velocities and accelerations are assumed to be zero.
void	set (double x_, double vx_, double ax_, double y_, double vy_, double ay_)
	Set state to given values.
Public Attributes
double	state_vector [SMPC_NUM_STATE_VAR]

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Detailed Description

An abstract class representing state.

Definition at line 35 of file smpc_solver.h.

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Constructor & Destructor Documentation

smpc::state::state

(

)

Default constructor (everything set to 0).

Definition at line 120 of file smpc_solver.cpp.

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Member Function Documentation

double& smpc::state::ax

(

)

[inline]

Acceleration along X axis.

Definition at line 70 of file smpc_solver.h.

double& smpc::state::ay

(

)

[inline]

Acceleration along Y axis.

Definition at line 83 of file smpc_solver.h.

virtual void smpc::state::get_next_state

(

const solver &

smpc_solver

)

[pure virtual]

Returns the next state.

Parameters:

[in]

smpc_solver

initialized solver

Implemented in smpc::state_tilde, and smpc::state_orig.

virtual void smpc::state::get_state	(	const solver &	smpc_solver,
		const int	ind
	)		[pure virtual]

The same as get_next_state, but takes an additional parameter - index of the desired state in the state vector.

Parameters:

[in]	smpc_solver	initialized solver
[in]	ind	index of a state [0 : N-1].

Implemented in smpc::state_tilde, and smpc::state_orig.

void smpc::state::set	(	double	x_,
		double	y_
	)

Set coordinates, velocities and accelerations are assumed to be zero.

Parameters:

[in]	x_	x CoM/ZMP position [meter]
[in]	y_	y CoM/ZMP position [meter]

Definition at line 131 of file smpc_solver.cpp.

void smpc::state::set	(	double	x_,
		double	vx_,
		double	ax_,
		double	y_,
		double	vy_,
		double	ay_
	)

Set state to given values.

Parameters:

[in]	x_	x CoM/ZMP position [meter]
[in]	vx_	x CoM velocity [meter/s]
[in]	ax_	x CoM acceleration [meter/s^2]
[in]	y_	y CoM/ZMP position [meter]
[in]	vy_	y CoM velocity [meter/s]
[in]	ay_	y CoM acceleration [meter/s^2]

Definition at line 137 of file smpc_solver.cpp.

double& smpc::state::vx

(

)

[inline]

Velocity along X axis.

Definition at line 66 of file smpc_solver.h.

double& smpc::state::vy

(

)

[inline]

Velocity along Y axis.

Definition at line 79 of file smpc_solver.h.

double& smpc::state::x

(

)

[inline]

X coordinate.

Definition at line 62 of file smpc_solver.h.

double& smpc::state::y

(

)

[inline]

Y coordinate.

Definition at line 75 of file smpc_solver.h.

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Member Data Documentation

double smpc::state::state_vector[SMPC_NUM_STATE_VAR]

                state[0] - x CoM or ZMP position [meter]
                state[1] - x CoM velocity [meter/s]
                state[2] - x CoM acceleration [meter/s^2]
                state[3] - y CoM or ZMP position [meter]
                state[4] - y CoM velocity [meter/s]
                state[5] - y CoM acceleration [meter/s^2]

Definition at line 48 of file smpc_solver.h.

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

• include/smpc_solver.h
• solver/smpc_solver.cpp