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PlanEval Class Reference

A PlanEval represents one half of a complete control system. More...

Inheritance diagram for PlanEval:
Collaboration diagram for PlanEval:

Public Member Functions

function PlanEval (plans)
 
function getCurrentPlan (obj, t, x)
 
function getQPControllerInput (obj, t, x)
 Get a QPInput structure describing the instantaneous input to the QP controller. More...
 
function insertPlan (obj, new_plan, idx)
 Insert a new plan to the queue before the given index. More...
 
function appendPlan (obj, new_plan)
 Add a plan to the end of the queue. More...
 
function switchToPlan (obj, new_plan)
 Replace the queue with a single new plan, which will become the current plan immediately. More...
 

Public Attributes

Property t
 
Property x
 
Property qp_input
 
Property plan_queue
 

Detailed Description

A PlanEval represents one half of a complete control system.

It contains all the stateful information about the currently executed plan, and produces instantaneous input to the QP controller specifying the desired configuration, body positions, and parameters. Plan Eval maintains a queue of plans as additional state. When the current plan ends, it will automatically move to the next plan in the queue. If no additional plans are available, it will instead call current_plan.getSuccessor() to try to get a default successor plan. For example, QPWalkingPlan.getSuccessor() returns a standing plan at the current posture.

Constructor & Destructor Documentation

function PlanEval ( plans  )
Return values
obj

Member Function Documentation

function appendPlan ( obj  ,
new_plan   
)

Add a plan to the end of the queue.

Return values
obj
function getCurrentPlan ( obj  ,
t  ,
x   
)
Return values
current_plan
function getQPControllerInput ( obj  ,
t  ,
x   
)

Get a QPInput structure describing the instantaneous input to the QP controller.

Parameters
tthe current time (s)
xthe current robot state vector
Return values
qp_input
function insertPlan ( obj  ,
new_plan  ,
idx   
)

Insert a new plan to the queue before the given index.

For example, to move a new plan to the front of the queue, set idx=1

Return values
obj
function switchToPlan ( obj  ,
new_plan   
)

Replace the queue with a single new plan, which will become the current plan immediately.

Return values
obj

Member Data Documentation

Property plan_queue
Property qp_input
Property t
Property x

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