Classes | |
| class | Params |
Functions | |
| def | clip_data |
| def | clip_footstep |
| def | clip_footstep_on_gait_config |
| def | clip_footstep_to_avoid_collision |
| def | clip_footstep_tuple |
| def | clip_footstep_with_ellipse |
| def nao_footstep_clipping.clip_data | ( | min, | |
| max, | |||
| value | |||
| ) |
Clip value between two extremes.
Definition at line 32 of file nao_footstep_clipping.py.
| def nao_footstep_clipping.clip_footstep | ( | foot, | |
| is_left_support | |||
| ) |
Clipping functions to avoid any warnings and undesired effects
when sending the footsteps to ALMotion.
foot is an almath.Pose2D (x, y, theta position)
is_left_support must be set to True if the move is on the right leg
(the robot is supporting itself on the left leg).
Definition at line 105 of file nao_footstep_clipping.py.
| def nao_footstep_clipping.clip_footstep_on_gait_config | ( | foot, | |
| is_left_support | |||
| ) |
Clip the foot move so that it does not exceed the maximum
size of steps.
foot is an almath.Pose2D (x, y, theta position).
is_left_support must be set to True if the move is on the right leg
(the robot is supporting itself on the left leg).
Definition at line 44 of file nao_footstep_clipping.py.
| def nao_footstep_clipping.clip_footstep_to_avoid_collision | ( | foot, | |
| is_left_support | |||
| ) |
Clip the foot move to avoid collision with the other foot.
foot is an almath.Pose2D (x, y, theta position).
is_left_support must be set to True if the move is on the right leg
(the robot is supporting itself on the left leg).
Definition at line 94 of file nao_footstep_clipping.py.
| def nao_footstep_clipping.clip_footstep_tuple | ( | foot, | |
| is_left_support | |||
| ) |
Wrapper of clip_footstep to handle 'foot' as geometry_msgs.Pose2D. 'foot' is a tuple (x, y, theta). A tuple (x_clip, y_clip, theta_clip) is returned.
Definition at line 121 of file nao_footstep_clipping.py.
| def nao_footstep_clipping.clip_footstep_with_ellipse | ( | foot | ) |
Clip the foot move inside an ellipse defined by the foot's dimansions.
foot is an almath.Pose2D (x, y, theta position).
Definition at line 68 of file nao_footstep_clipping.py.