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Humanoid Path Planner
hpp-centroidal-dynamics
Commits
f69de260
Commit
f69de260
authored
6 years ago
by
Pierre Fernbach
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implement checkRobustEquilibrium with non null acceleration for algorithm PP
parent
583fa92c
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include/centroidal-dynamics-lib/centroidal_dynamics.hh
+24
-0
24 additions, 0 deletions
include/centroidal-dynamics-lib/centroidal_dynamics.hh
src/centroidal_dynamics.cpp
+10
-1
10 additions, 1 deletion
src/centroidal_dynamics.cpp
with
34 additions
and
1 deletion
include/centroidal-dynamics-lib/centroidal_dynamics.hh
+
24
−
0
View file @
f69de260
...
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@@ -225,6 +225,30 @@ public:
*/
LP_status
checkRobustEquilibrium
(
Cref_vector3
com
,
bool
&
equilibrium
,
double
e_max
=
0.0
);
/**
* @brief Check whether the specified com position is in robust equilibrium.
* This amounts to solving the following feasibility LP:
* find b
* minimize 1
* subject to G b = D c + d
* b >= b0
* where:
* b are the coefficient of the contact force generators (f = G b)
* b0 is a parameter proportional to the specified robustness measure
* c is the specified CoM position
* G is the 6xm matrix whose columns are the gravito-inertial wrench generators
* D is the 6x3 matrix mapping the CoM position in gravito-inertial wrench
* d is the 6d vector containing the gravity part of the gravito-inertial wrench
* @param com The 3d center of mass position to test.
* @param acc The 3d acceleration of the CoM.
* @param equilibrium True if com is in robust equilibrium, false otherwise.
* @param e_max Desired robustness level.
* @return The status of the LP solver.
*/
LP_status
checkRobustEquilibrium
(
Cref_vector3
com
,
Cref_vector3
acc
,
bool
&
equilibrium
,
double
e_max
=
0.0
);
/**
* @brief Compute the extremum CoM position over the line a*x + a0 that is in robust equilibrium.
* This amounts to solving the following LP:
...
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src/centroidal_dynamics.cpp
+
10
−
1
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f69de260
...
...
@@ -366,9 +366,18 @@ LP_status Equilibrium::computeEquilibriumRobustness(Cref_vector3 com, Cref_vecto
return
LP_STATUS_ERROR
;
}
LP_status
Equilibrium
::
checkRobustEquilibrium
(
Cref_vector3
com
,
bool
&
equilibrium
,
double
e_max
){
checkRobustEquilibrium
(
com
,
zero_acc
,
equilibrium
,
e_max
);
}
LP_status
Equilibrium
::
checkRobustEquilibrium
(
Cref_vector3
com
,
bool
&
equilibrium
,
double
e_max
)
LP_status
Equilibrium
::
checkRobustEquilibrium
(
Cref_vector3
com
,
Cref_vector3
acc
,
bool
&
equilibrium
,
double
e_max
)
{
// Take the acceleration in account in D and d :
m_D
.
block
<
3
,
3
>
(
3
,
0
)
=
crossMatrix
(
-
m_mass
*
(
m_gravity
-
acc
));
m_d
.
head
<
3
>
()
=
m_mass
*
(
m_gravity
-
acc
);
m_HD
=
m_H
*
m_D
;
m_Hd
=
m_H
*
m_d
;
if
(
m_G_centr
.
cols
()
==
0
)
{
equilibrium
=
false
;
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