TaskFunctionControl.h File Reference

Task Function Control Law. More...

#include "OurLibLapack.h"
#include "../ActuatorsGeometry/utilBip.h"
#include "../../../LagrangianModel/Bip/LagrangianModel.h"
#include "ObserverGeometry/ObserverGeometry.h"
#include "TaskFunctionDefinition/TaskFunctionDefinition.h"

Go to the source code of this file.

Defines
#define	NMOT   15
#define	NO_EVENT   0
#define	NRATIO   21
#define	SET_EVENT   1
Functions
void	ecriture_traj3 (const char nom[], const double positions[], const double infos[], const int nb_positions[1])
	This function write a file in traj3 format.
int	lecture_traj3 (const char nom[], double positions[], double infos[], int nb_positions[1], const int max_nb_positions[1])
	This function read a file in traj3 format.
int	Observer (const double q1[NMOT], const double feet[6], const double delta_t[1], double q[NDOF], double qdot[NDOF])
	This function compute the complete position and velocity of the system for an articular position and a state of contacts with ground given.
int	TaskControl (double q[NDOF], double qdot[NDOF], const double feet[6], const double s_desiree[NDOF], const double sdot_desiree[NDOF], const double sddot_desiree[NDOF], const int contacts_desires[1], const double pourcentage[1], double commande[NMOT], double qddot[NDOF])
	This function compute the command on the form of motors voltages and the acceleration of the system.
void	Trajectory (const double t[1], const double positions[], const double infos[], const int nb_positions[1], double position[NDOF], double vitesse[NDOF], double acceleration[NDOF], int contacts[1], double pourcentage[1])
	This function compute the position, the velocity, the acceleration, the informations about contacts and the pourcentage of double support at time t, for a trajectory obtained by piecewise polynomial interpolation of degree 6 between key positions.

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Detailed Description

Task Function Control Law.

Author:

: Pierre-Brice Wieber Affiliation(s): INRIA, team BIPOP Email(s): Pierre-Brice.Wieber@inria.fr

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Define Documentation

#define NMOT   15

#define NO_EVENT   0

#define NRATIO   21

#define SET_EVENT   1

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Function Documentation

void ecriture_traj3	(	const char	nom[],
		const double	positions[],
		const double	infos[],
		const int	nb_positions[1]
	)

This function write a file in traj3 format.

Parameters:

[in]	nom	File name
[in]	positions	Key posistions along trajectory
[in]	infos	Informations about passage times and state of contacts
[in]	nb_positions	Number of key positions

int lecture_traj3	(	const char	nom[],
		double	positions[],
		double	infos[],
		int	nb_positions[1],
		const int	max_nb_positions[1]
	)

This function read a file in traj3 format.

Parameters:

[out]	positions	Key posistions along trajectory
[out]	infos	Informations about passage times and state of contacts
[out]	nb_positions	Number of key positions
[in]	nom	File name
[in]	max_nb_positions	Maximum of number positions

int Observer	(	const double	q1[NMOT],
		const double	feet[6],
		const double	delta_t[1],
		double	q[NDOF],
		double	qdot[NDOF]
	)

This function compute the complete position and velocity of the system for an articular position and a state of contacts with ground given.

Parameters:

[out]	q	Joint State Vector dim NDOF
[out]	qdot	Velocity vector dim NDOF
[in]	q1	Joint position of the 15 bipede degree of freedom dim NDOF
[in]	feet	Sensors feet dim NFEETSENSORS = 6
[in]	delta_t	Time sampling dim 1

int TaskControl	(	double	q[NDOF],
		double	qdot[NDOF],
		const double	feet[6],
		const double	s_desiree[NDOF],
		const double	sdot_desiree[NDOF],
		const double	sddot_desiree[NDOF],
		const int	contacts_desires[1],
		const double	pourcentage[1],
		double	commande[NMOT],
		double	qddot[NDOF]
	)

This function compute the command on the form of motors voltages and the acceleration of the system.

Parameters:

[out]	commande	Command on form of motors voltages dim NMOT
[out]	qddot	Acceleration vector dim NDOF
[in]	q	Joint State Vector dim NDOF
[in]	qdot	Velocity vector dim NDOF
[in]	feet	Sensors feet dim NFEETSENSORS = 6
[in]	s_desiree	Desired position in task space dim NDOF
[in]	sdot_desiree	Desired velocity in task space dim NDOF
[in]	sddot_desiree	Desired acceleration in task space dim NDOF
[in]	contacts_desires	State of desired contacts
[in]	pourcentage	Percentage of double support along transitions

void Trajectory	(	const double	t[1],
		const double	positions[],
		const double	infos[],
		const int	nb_positions[1],
		double	position[NDOF],
		double	vitesse[NDOF],
		double	acceleration[NDOF],
		int	contacts[1],
		double	pourcentage[1]
	)

This function compute the position, the velocity, the acceleration, the informations about contacts and the pourcentage of double support at time t, for a trajectory obtained by piecewise polynomial interpolation of degree 6 between key positions.

Parameters:

[out]	position	Joint State Vector dim NDOF
[out]	vitesse	Velocity vector dim NDOF
[out]	acceleration	Acceleration vector dim NDOF
[out]	contacts	State of contacts
[out]	pourcentage	Percentage of double support
[in]	t	Time
[in]	positions	Key positions along trajectory
[in]	infos	Informations about passage times and state of contacts
[in]	nb_positions	Number of key positions along trajectory

HuMAnS

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