From d36be5a720c7078c882034bdd901b072510ba3ea Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Wed, 11 Jan 2023 14:02:51 +0100
Subject: [PATCH] Start commenting
---
.../WB_MPC/CasadiOCP.py | 64 ++++++++++++++-----
1 file changed, 48 insertions(+), 16 deletions(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
index b1346863..2c050cb4 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
@@ -11,31 +11,63 @@ import pinocchio.casadi as cpin
class NodeData:
+ """
+ Data stored by each shooting node of the OCP
+
+ Attributes:
+ x (vector): State vector (q + dq)
+ cost (float): Cost for this node
+ isTerminal (bool): True if last node of shooting problem
+ a (vector): Acceleration slack variables (ddq)
+ u (vector): Control vector (tau)
+ f (vector): Contact forces
+ xnext (vector): Next state vector
+ """
+
def __init__(self, isTerminal=False):
- self.x = None # State vector (q + dq)
- self.cost = None # Cost for this node
- self.isTerminal = isTerminal # True if last node of shooting problem
+ self.x = None
+ self.cost = None
+ self.isTerminal = isTerminal
if not isTerminal:
- self.a = None # Acceleration slack variables (ddq)
- self.u = None # Control vector (tau)
- self.f = None # Contact forces
- self.xnext = None # Next state vector
+ self.a = None
+ self.u = None
+ self.f = None
+ self.xnext = None
class OcpResult:
+ """
+ Result of the OCP
+
+ Attributes:
+ xs (vector): State trajectory (q + dq)
+ a (vector): Acceleration trajectory (ddq)
+ us (vector): Control trajectory (tau)
+ fs (vector): Contact forces trajectories
+ """
+
def __init__(self):
- self.xs = None # State trajectory (q + dq)
- self.a = None # Acceleration trajectory (ddq)
- self.us = None # Control trajectory (tau)
- self.fs = None # Contact forces trajectories
- # self.K = None
- # self.f_world = None
- # self.q = None
- # self.v = None
- # self.solver_time = None
+ self.xs = None
+ self.a = None
+ self.us = None
+ self.fs = None
class OCP:
+ """
+ Optimal Control Problem
+
+ Args:
+ pd (ProblemData): data related to the OCP
+ gait (list): list of list containing contact pattern i.e. for two steps[[1,1,1,1], [1,0,0,1]]
+ Its length determines the horizon of the ocp
+
+ Attributes:
+ pd (ProblemData): data related to the OCP
+ results (OcpResult): result of the OCP
+ shooting_nodes (set): set of shooting nodes of the OCP
+ """
+
def __init__(self, pd: ProblemData, tasks, gait):
"""Define an optimal ocntrol problem.
:param robot: Pinocchio RobotWrapper instance
--
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