ZmpPreviewParams Struct Reference

#include <ZmpPreviewController.h>

List of all members.

Public Member Functions
	ZmpPreviewParams (int Np, int Nc, double cz, double nu, double nw, double nb)
Public Attributes
int	Nc
int	Np
double	cz
double	nu
double	nw
double	nb

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Constructor & Destructor Documentation

ZmpPreviewParams::ZmpPreviewParams	(	int	Np,
		int	Nc,
		double	cz,
		double	nu,
		double	nw,
		double	nb
	)		[inline]

Constructor

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Member Data Documentation

double ZmpPreviewParams::cz

Robot's CoMconstant height.

double ZmpPreviewParams::nb

Weight of the balancing cost function \( \eta_b \).

int ZmpPreviewParams::Nc

Size of the control window.

int ZmpPreviewParams::Np

Size of the preview window.

double ZmpPreviewParams::nu

Weight of the input regularization term in the cost function \(\eta_u\).

double ZmpPreviewParams::nw

Weight of the walking cost function \( \eta_w \).

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

• ocra-wbi-plugins/ocra-icub-clients/walking-client/include/walking-client/ZmpPreviewController.h