Functions — github.com/ShuoYangRobotics/A1-QP-MPC-Controller

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Functions90 in github.com/ShuoYangRobotics/A1-QP-MPC-Controller

⨍ Functions 90 ◇ Types & classes 11

↓ 16 callersMethodCalculateAverage

Computes the moving window average.

src/a1_cpp/src/utils/filter.hpp:26

↓ 6 callersMethodreset

src/a1_cpp/src/ConvexMpc.cpp:70

↓ 3 callersMethodcompute_grf

src/a1_cpp/src/A1RobotControl.cpp:321

↓ 3 callersMethodcompute_joint_torques

src/a1_cpp/src/A1RobotControl.cpp:289

↓ 3 callersMethodfk

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:7

↓ 3 callersMethodgenerate_swing_legs_ctrl

src/a1_cpp/src/A1RobotControl.cpp:204

↓ 3 callersMethodinit_state

src/a1_cpp/src/A1BasicEKF.cpp:55

↓ 3 callersMethodis_inited

src/a1_cpp/src/A1BasicEKF.h:31

↓ 3 callersMethodjac

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:13

↓ 3 callersMethodmain_update

src/a1_cpp/src/IsaacA1ROS.cpp:75

↓ 3 callersMethodresetFromROSParam

src/a1_cpp/src/A1CtrlStates.h:135

↓ 3 callersMethodsend_cmd

src/a1_cpp/src/IsaacA1ROS.cpp:164

↓ 3 callersMethodupdate_estimation

src/a1_cpp/src/A1BasicEKF.cpp:70

↓ 3 callersMethodupdate_foot_forces_grf

src/a1_cpp/src/IsaacA1ROS.cpp:70

↓ 3 callersMethodupdate_plan

src/a1_cpp/src/A1RobotControl.cpp:148

↓ 2 callersMethodcalculate_A_mat_c

src/a1_cpp/src/ConvexMpc.cpp:110

↓ 2 callersMethodcalculate_B_mat_c

src/a1_cpp/src/ConvexMpc.cpp:132

↓ 2 callersMethodcalculate_qp_mats

src/a1_cpp/src/ConvexMpc.cpp:158

↓ 2 callersMethodget_foot_pos_curve

src/a1_cpp/src/utils/Utils.cpp:64

↓ 2 callersMethodstate_space_discretization

src/a1_cpp/src/ConvexMpc.cpp:145

↓ 1 callersMethodgait_counter_reset

src/a1_cpp/src/A1CtrlStates.h:322

Method joy_callback

src/a1_cpp/src/GazeboA1ROS.cpp:383

MethodA1BasicEKF

src/a1_cpp/src/A1BasicEKF.cpp:7

MethodA1CtrlStates

this init function sets all variables to that used in orbit.issac.a1 controller

src/a1_cpp/src/A1CtrlStates.h:16

MethodA1Kinematics

src/a1_cpp/src/legKinematics/A1Kinematics.h:13

MethodA1RobotControl

src/a1_cpp/src/A1RobotControl.cpp:7

MethodBezierUtils

src/a1_cpp/src/utils/Utils.h:27

MethodConvexMpc

src/a1_cpp/src/ConvexMpc.cpp:7

MethodFL_calf_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:313

MethodFL_foot_contact_callback

foot contact force

src/a1_cpp/src/GazeboA1ROS.cpp:367

MethodFL_hip_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:303

MethodFL_thigh_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:308

MethodFR_calf_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:329

MethodFR_foot_contact_callback

src/a1_cpp/src/GazeboA1ROS.cpp:371

MethodFR_hip_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:319

MethodFR_thigh_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:324

MethodGazeboA1ROS

src/a1_cpp/src/GazeboA1ROS.cpp:8

MethodGetValueQueue

src/a1_cpp/src/utils/filter.hpp:41

MethodHardwareA1ROS

src/a1_cpp/src/HardwareA1ROS.cpp:8

MethodIsaacA1ROS

src/a1_cpp/src/IsaacA1ROS.cpp:8

MethodMovingWindowFilter

src/a1_cpp/src/utils/filter.hpp:17

MethodRL_calf_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:345

MethodRL_foot_contact_callback

src/a1_cpp/src/GazeboA1ROS.cpp:375

MethodRL_hip_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:335

MethodRL_thigh_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:340

MethodRR_calf_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:361

MethodRR_foot_contact_callback

src/a1_cpp/src/GazeboA1ROS.cpp:379

MethodRR_hip_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:351

MethodRR_thigh_state_callback

src/a1_cpp/src/GazeboA1ROS.cpp:356

MethodUpdateNeumaierSum

Updates the moving window sum using Neumaier's algorithm. For more details please refer to: https://en.wikipedia.org/wiki/Kahan_summation_algorithm#F

src/a1_cpp/src/utils/filter.hpp:53

MethodautoFunc_dJ_dpho

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:243

MethodautoFunc_dJ_dq

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:158

MethodautoFunc_d_fk_dc

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:132

MethodautoFunc_d_fk_dq

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:76

MethodautoFunc_fk_derive

functions generated by matlab

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:39

Methodbezier_curve

src/a1_cpp/src/utils/Utils.cpp:100

Methodcal_dihedral_angle

src/a1_cpp/src/utils/Utils.cpp:54

Methodcompute_walking_surface

src/a1_cpp/src/A1RobotControl.cpp:566

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:25

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:31

src/a1_cpp/src/legKinematics/A1Kinematics.cpp:19

Methodgt_pose_callback

callback functions

src/a1_cpp/src/IsaacA1ROS.cpp:183

Methodgt_pose_callback

callback functions

src/a1_cpp/src/GazeboA1ROS.cpp:235

Methodimu_callback

src/a1_cpp/src/IsaacA1ROS.cpp:226

Methodimu_callback

src/a1_cpp/src/GazeboA1ROS.cpp:284

Methodjoint_state_callback

src/a1_cpp/src/IsaacA1ROS.cpp:243

Methodjoy_callback

src/a1_cpp/src/HardwareA1ROS.cpp:202

Methodjoy_callback

src/a1_cpp/src/IsaacA1ROS.cpp:274

src/a1_cpp/src/MainHardware.cpp:21

src/a1_cpp/src/MainIsaac.cpp:21

src/a1_cpp/src/MainGazebo.cpp:21

src/a1_cpp/src/test/test_unitree_msgs.cpp:11

src/a1_cpp/src/test/test_rotation.cpp:14

src/a1_cpp/src/test/test_mpc.cpp:14

src/a1_cpp/src/test/test_bezier.cpp:11

Methodmain_update

src/a1_cpp/src/HardwareA1ROS.cpp:97

Methodmain_update

src/a1_cpp/src/GazeboA1ROS.cpp:117

Methodpseudo_inverse

https://gist.github.com/pshriwise/67c2ae78e5db3831da38390a8b2a209f

src/a1_cpp/src/utils/Utils.cpp:44

Methodquat_to_euler

src/a1_cpp/src/utils/Utils.cpp:7

Methodreceive_low_state

src/a1_cpp/src/HardwareA1ROS.cpp:245

src/a1_cpp/src/A1CtrlStates.h:20

Methodreset_foot_pos_curve

src/a1_cpp/src/utils/Utils.h:37

src/a1_cpp/src/HardwareA1ROS.cpp:177

src/a1_cpp/src/GazeboA1ROS.cpp:215

src/a1_cpp/src/utils/Utils.cpp:35

Methodudp_init_send

src/a1_cpp/src/HardwareA1ROS.cpp:230

Methodupdate_foot_forces_grf

src/a1_cpp/src/HardwareA1ROS.cpp:92

Methodupdate_foot_forces_grf

src/a1_cpp/src/GazeboA1ROS.cpp:112

Method~A1Kinematics

src/a1_cpp/src/legKinematics/A1Kinematics.h:14

Method~HardwareA1ROS

src/a1_cpp/src/HardwareA1ROS.h:50