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InstantaneousQPController Class Reference

A QP-based balancing and walking controller that exploits TV-LQR solutions for (time-varing) linear COM/ZMP dynamics. More...

Collaboration diagram for InstantaneousQPController:

Public Member Functions

function InstantaneousQPController (urdf_filename, control_config_filename, urdf_modifications_filename)
 
function updateAndOutput (obj, t, x, qp_input_msg, foot_contact_sensor)
 Parse inputs from the robot and the planEval, set up the QP, solve it, and return the torques and feed-forward velocity. More...
 

Public Attributes

Property quiet
 

Detailed Description

A QP-based balancing and walking controller that exploits TV-LQR solutions for (time-varing) linear COM/ZMP dynamics.

Includes logic specific to atlas/bipeds for raising the heel while walking. This differs from AtlasQPController in that it contains no stateful information about the currently executed plan. Instead, it is designed to be fully general for a variety of plan types (standing, walking, manipulating, etc.). The AtlasPlanEval class now handles the state of the current plan.

Constructor & Destructor Documentation

function InstantaneousQPController ( urdf_filename  ,
control_config_filename  ,
urdf_modifications_filename   
)
Return values
obj

Member Function Documentation

function updateAndOutput ( obj  ,
,
,
qp_input_msg  ,
foot_contact_sensor   
)

Parse inputs from the robot and the planEval, set up the QP, solve it, and return the torques and feed-forward velocity.

Parameters
ttime (s)
xrobot state vector
qp_input_msga drake.lcmt_qp_controller_input object
foot_contact_sensora 2x1 vector indicating whether contact force was detected by the [left; right] foot
Return values
y

Member Data Documentation

Property quiet

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