NMPC controller ROS node. More...

Collaboration diagram for NMPCController:

Public Member Functions
	NMPCController (ros::NodeHandle &nh, int type)
	Constructor for MPCController. More...

bool	computePlan (const Eigen::VectorXd &initial_state, const Eigen::MatrixXd &ref_traj, const std::vector< std::vector< bool > > &contact_schedule, Eigen::MatrixXd &foot_positions, Eigen::MatrixXd &foot_velocities, Eigen::MatrixXd &state_traj, Eigen::MatrixXd &control_traj)
	Update the contact and dynamic matrices, solve, and return the output. More...

bool	computeLegPlan (const Eigen::VectorXd &initial_state, const Eigen::MatrixXd &ref_traj, const Eigen::MatrixXd &foot_positions_body, Eigen::MatrixXd &foot_positions_world, Eigen::MatrixXd &foot_velocities, const std::vector< std::vector< bool > > &contact_schedule, const Eigen::VectorXd &ref_ground_height, const double &first_element_duration, const bool &same_plan_index, const grid_map::GridMap &terrain, Eigen::MatrixXd &state_traj, Eigen::MatrixXd &control_traj)

Eigen::VectorXi	updateAdaptiveComplexitySchedule (Eigen::MatrixXd &state_traj_lifted, Eigen::MatrixXd &control_traj_lifted)

void	updateHorizonLength ()

NLPDiagnostics	getNLPDiagnostics () const
	Return the NLP diagnostics. More...

Private Attributes
ros::NodeHandle	nh_

int	robot_id_

std::string	robot_ns_
	Robot type: A1 or Spirit.

double	update_rate_
	Update rate for sending and receiving data;.

SmartPtr< quadNLP >	mynlp_

SmartPtr< IpoptApplication >	app_

std::shared_ptr< quad_utils::QuadKD >	quadKD_

bool	enable_variable_horizon_

int	N_

int	N_max_

int	N_min_

const int	n_body_ = 12

const int	n_foot_ = 24

const int	n_joints_ = 24

const int	n_tail_ = 4

const int	m_body_ = 12

const int	m_foot_ = 24

const int	m_tail_ = 2

double	dt_

bool	require_init_

Eigen::VectorXi	adaptive_complexity_schedule_
	Adaptive complexity schedule.

NLPDiagnostics	diagnostics_
	Diagnostics struct for gathering metadata.

NLPConfig	config_
	Config struct for storing meta parameters.

Detailed Description

NMPC controller ROS node.

Wrapper around Quadrupedal MPC that interfaces with our ROS architecture

Constructor & Destructor Documentation

NMPCController::NMPCController	(	ros::NodeHandle &	nh,
		int	type
	)

Constructor for MPCController.

Parameters

[in] nh ROS NodeHandle to publish and subscribe from

bool NMPCController::computePlan	(	const Eigen::VectorXd &	initial_state,
		const Eigen::MatrixXd &	ref_traj,
		const std::vector< std::vector< bool > > &	contact_schedule,
		Eigen::MatrixXd &	foot_positions,
		Eigen::MatrixXd &	foot_velocities,
		Eigen::MatrixXd &	state_traj,
		Eigen::MatrixXd &	control_traj
	)

Update the contact and dynamic matrices, solve, and return the output.

Parameters

[in]	initial_state	Vector with initial state
[in]	ref_traj	Matrix holding desired reference trajectory
[in]	contact_schedule	Matrix holding the contact schedule
[in]	foot_positions	Matrix holding foot positions
[in]	foot_velocities	Matrix holding foot velocities
[in]	first_element_duration	Time duration to the next plan index
[in]	same_plan_index	If the current solving is duplicated in the same index
[out]	state_traj	Optimized state trajectory output
[out]	control_traj	Optimized control trajectory output

NLPDiagnostics NMPCController::getNLPDiagnostics ( ) const

inline

Return the NLP diagnostics.

Eigen::VectorXi NMPCController::updateAdaptiveComplexitySchedule	(	Eigen::MatrixXd &	state_traj_lifted,
		Eigen::MatrixXd &	control_traj_lifted
	)

Method to return the constraint residual for requested data

void NMPCController::updateHorizonLength ( )

Method to update the prediction horizon length

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