A pattern generator computes walking reference trajectories. More...

#include <pattern-generator.hh>

Public Types
typedef T	concreteType_t
typedef PatternGeneratorTraits < concreteType_t >::Footprint	footprint_t
	Footprint type.
typedef PatternGeneratorTraits < concreteType_t > ::Trajectory2d	Trajectory2d
	DiscretizedTrajectory in .
typedef PatternGeneratorTraits < concreteType_t > ::Trajectory3d	Trajectory3d
	DiscretizedTrajectory in .
typedef PatternGeneratorTraits < concreteType_t > ::TrajectoryNd	TrajectoryNd
	DiscretizedTrajectory in .
typedef PatternGeneratorTraits < concreteType_t > ::TrajectoryV2d	TrajectoryV2d
	DiscretizedTrajectory in .
typedef PatternGeneratorTraits < concreteType_t > ::TrajectoryV3d	TrajectoryV3d
	DiscretizedTrajectory in .
Public Member Functions
const footprints_t &	footprints () const
	Footprints getter.
PatternGenerator< T > &	operator= (const PatternGenerator< T > &)
	Assignment operator.
void	setFinalRobotPosition (const HomogeneousMatrix3d &leftFoot, const HomogeneousMatrix3d &rightFoot, const Vector3d &centerOfMass, const Posture &posture)
	Define the final robot state.
void	setFinalRobotPosition (const HomogeneousMatrix3d &leftFoot, const HomogeneousMatrix3d &rightFoot, const Vector3d &centerOfMass, const Posture &posture, const HomogeneousMatrix3d &leftHand, const HomogeneousMatrix3d &rightHand)
	Define the final robot state.
void	setFootprints (const footprints_t &, bool startWithLeftFoot)
	Set the footprint sequence for the pattern generator.
void	setInitialRobotPosition (const HomogeneousMatrix3d &leftFoot, const HomogeneousMatrix3d &rightFoot, const Vector3d &centerOfMass, const Posture &posture)
	Define the initial robot state.
void	setInitialRobotPosition (const HomogeneousMatrix3d &leftFoot, const HomogeneousMatrix3d &rightFoot, const Vector3d &centerOfMass, const Posture &posture, const HomogeneousMatrix3d &leftHand, const HomogeneousMatrix3d &rightHand)
	Define the initial robot state.
bool	startWithLeftFoot () const
	Is the first flying foot the left one?
typedef	WALK_INTERFACES_EIGEN_STL_VECTOR (footprint_t) footprints_t
	Vector of footprints.
Constructor and destructor.
	PatternGenerator ()
	Default constructor.
	PatternGenerator (const PatternGenerator< T > &)
	Copy constructor.
virtual	~PatternGenerator ()
	Destructor.
Trajectories.
const Trajectory3d &	leftFootTrajectory () const
	Left foot trajectory getter.
const Trajectory3d &	rightFootTrajectory () const
	Right foot trajectory getter.
const TrajectoryV2d &	zmpTrajectory () const
	ZMP trajectory getter.
const TrajectoryV3d &	centerOfMassTrajectory () const
	Center of mass trajectory getter.
const TrajectoryNd &	postureTrajectory () const
	Posture trajectory getter.
const Trajectory3d &	leftHandTrajectory () const
	Left hand trajectory getter.
const Trajectory3d &	rightHandTrajectory () const
	Right hand trajectory getter.
Initial configuration.
const HomogeneousMatrix3d &	initialLeftFootPosition () const
	Initial left foot position getter.
const HomogeneousMatrix3d &	initialRightFootPosition () const
	Initial right foot position getter.
const Vector3d &	initialCenterOfMassPosition () const
	Initial center of mass getter.
const Posture &	initialPosture () const
	Initial posture getter.
const HomogeneousMatrix3d &	initialLeftHandPosition () const
	Initial left hand position getter.
const HomogeneousMatrix3d &	initialRightHandPosition () const
	Initial right hand position getter.
Final configuration
const HomogeneousMatrix3d &	finalLeftFootPosition () const
	Final left foot position getter.
const HomogeneousMatrix3d &	finalRightFootPosition () const
	Final right foot position getter.
const Vector3d &	finalCenterOfMassPosition () const
	Final center of mass position getter.
const Posture &	finalPosture () const
	Final posture getter.
const HomogeneousMatrix3d &	finalLeftHandPosition () const
	Final left hand position getter.
const HomogeneousMatrix3d &	finalRightHandPosition () const
	Final right hand position getter.
Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Protected Member Functions
virtual void	computeTrajectories ()=0
	Compute the reference trajectories.
TrajectoryV3d &	getCenterOfMassTrajectory ()
	Center of mass trajectory setter.
Vector3d &	getFinalCenterOfMassPosition ()
	Final center of mass position setter.
HomogeneousMatrix3d &	getFinalLeftFootPosition ()
	Final left foot position setter.
HomogeneousMatrix3d &	getFinalLeftHandPosition ()
	Final left hand position setter.
Posture &	getFinalPosture ()
	Final posture setter.
HomogeneousMatrix3d &	getFinalRightFootPosition ()
	Final right foot position setter.
HomogeneousMatrix3d &	getFinalRightHandPosition ()
	Final right hand position setter.
Vector3d &	getInitialCenterOfMassPosition ()
	Initial center of mass position setter.
HomogeneousMatrix3d &	getInitialLeftFootPosition ()
	Initial left foot position setter.
HomogeneousMatrix3d &	getInitialLeftHandPosition ()
	Initial left hand position setter.
Posture &	getInitialPosture ()
	Initial posture setter.
HomogeneousMatrix3d &	getInitialRightFootPosition ()
	Initial right foot position setter.
HomogeneousMatrix3d &	getInitialRightHandPosition ()
	Initial right hand position setter.
Trajectory3d &	getLeftFootTrajectory ()
	Left foot trajectory setter.
Trajectory3d &	getLeftHandTrajectory ()
	Left hand trajectory setter.
TrajectoryNd &	getPostureTrajectory ()
	Posture trajectory setter.
Trajectory3d &	getRightFootTrajectory ()
	Right foot trajectory setter.
Trajectory3d &	getRightHandTrajectory ()
	Right hand trajectory setter.
TrajectoryV2d &	getZmpTrajectory ()
	ZMP trajectory setter.
Private Attributes
TrajectoryV3d	centerOfMassTrajectory_
	Center of mass trajectory.
Vector3d	finalCenterOfMassPosition_
	Final center of mass position.
HomogeneousMatrix3d	finalLeftFootPosition_
	Final left foot position.
HomogeneousMatrix3d	finalLeftHandPosition_
	Final left hand position.
Posture	finalPosture_
	Final posture.
HomogeneousMatrix3d	finalRightFootPosition_
	Final right foot position.
HomogeneousMatrix3d	finalRightHandPosition_
	Final right hand position.
footprints_t	footprints_
	Footprint sequence.
Vector3d	initialCenterOfMassPosition_
	Initial center of mass position.
HomogeneousMatrix3d	initialLeftFootPosition_
	Initial left foot position.
HomogeneousMatrix3d	initialLeftHandPosition_
	Initial left hand position.
Posture	initialPosture_
	Initial posture.
HomogeneousMatrix3d	initialRightFootPosition_
	Initial right foot position.
HomogeneousMatrix3d	initialRightHandPosition_
	Initial right hand position.
Trajectory3d	leftFootTrajectory_
	Left foot trajectory.
Trajectory3d	leftHandTrajectory_
	Left hand trajectory.
TrajectoryNd	postureTrajectory_
	Posture trajectory.
Trajectory3d	rightFootTrajectory_
	Right foot trajectory.
Trajectory3d	rightHandTrajectory_
	Right hand trajectory.
bool	startWithLeftFoot_
	Is the left foot the first flying foot?
TrajectoryV2d	zmpTrajectory_
	ZMP trajectory.

Detailed Description

template<typename T>
class walk::PatternGenerator< T >

A pattern generator computes walking reference trajectories.

This class is the core of walk_interfaces. A pattern generator computes the reference trajectories of associated with a given walking movement.

The frames follows the ROS conventions (X forward, Y left and Z up).

The reference trajectories are:

The two feet (left and right) trajectories ( ). The (X, Y) plan of the frame is coplanar with the foot contact surface. The origin matches the center of this surface.

The center of mass trajectory ( ).

The Zero Momentum Point trajectory ( ).

An optional posture trajectory ( ). This trajectory is in the joint space. The order and semantics of the joints are algorithm specific. Please see the pattern generator documentation for more details.

Template Parameters:

T	Pattern generator concrete type.

Definition at line 51 of file pattern-generator.hh.

Member Typedef Documentation

template<typename T>

typedef T walk::PatternGenerator< T >::concreteType_t

Definition at line 54 of file pattern-generator.hh.

template<typename T>

typedef PatternGeneratorTraits<concreteType_t>::Footprint walk::PatternGenerator< T >::footprint_t

Footprint type.

Definition at line 58 of file pattern-generator.hh.

template<typename T>

typedef PatternGeneratorTraits<concreteType_t>::Trajectory2d walk::PatternGenerator< T >::Trajectory2d

DiscretizedTrajectory in $SO(3)$ .

Definition at line 65 of file pattern-generator.hh.

template<typename T>

typedef PatternGeneratorTraits<concreteType_t>::Trajectory3d walk::PatternGenerator< T >::Trajectory3d

DiscretizedTrajectory in $SO(3)$ .

Definition at line 62 of file pattern-generator.hh.

template<typename T>

typedef PatternGeneratorTraits<concreteType_t>::TrajectoryNd walk::PatternGenerator< T >::TrajectoryNd

DiscretizedTrajectory in $R^n$ .

Definition at line 74 of file pattern-generator.hh.

template<typename T>

typedef PatternGeneratorTraits<concreteType_t>::TrajectoryV2d walk::PatternGenerator< T >::TrajectoryV2d

DiscretizedTrajectory in $R^2$ .

Definition at line 68 of file pattern-generator.hh.

template<typename T>

typedef PatternGeneratorTraits<concreteType_t>::TrajectoryV3d walk::PatternGenerator< T >::TrajectoryV3d

DiscretizedTrajectory in $R^3$ .

Definition at line 71 of file pattern-generator.hh.

Constructor & Destructor Documentation

template<typename T>

walk::PatternGenerator< T >::PatternGenerator ( ) [explicit]

Default constructor.

template<typename T>

walk::PatternGenerator< T >::PatternGenerator ( const PatternGenerator< T > & ) [explicit]

Copy constructor.

template<typename T>

virtual walk::PatternGenerator< T >::~PatternGenerator ( ) [virtual]

Destructor.

Member Function Documentation

template<typename T>

const TrajectoryV3d& walk::PatternGenerator< T >::centerOfMassTrajectory ( ) const

Center of mass trajectory getter.

template<typename T>

virtual void walk::PatternGenerator< T >::computeTrajectories ( ) [protected, pure virtual]

Compute the reference trajectories.

This abstract virtual method must be defined in the child classes. It must compute the reference trajectories and fill the different attributes of this class using the protected setters.

Implemented in MyPatternGenerator.

template<typename T>

const Vector3d& walk::PatternGenerator< T >::finalCenterOfMassPosition ( ) const

Final center of mass position getter.

template<typename T>

const HomogeneousMatrix3d& walk::PatternGenerator< T >::finalLeftFootPosition ( ) const

Final left foot position getter.

template<typename T>

const HomogeneousMatrix3d& walk::PatternGenerator< T >::finalLeftHandPosition ( ) const

Final left hand position getter.

template<typename T>

const Posture& walk::PatternGenerator< T >::finalPosture ( ) const

Final posture getter.

template<typename T>

const HomogeneousMatrix3d& walk::PatternGenerator< T >::finalRightFootPosition ( ) const

Final right foot position getter.

template<typename T>

const HomogeneousMatrix3d& walk::PatternGenerator< T >::finalRightHandPosition ( ) const

Final right hand position getter.

template<typename T>

const footprints_t& walk::PatternGenerator< T >::footprints ( ) const

Footprints getter.

template<typename T>

TrajectoryV3d& walk::PatternGenerator< T >::getCenterOfMassTrajectory ( ) [protected]

Center of mass trajectory setter.

template<typename T>

Vector3d& walk::PatternGenerator< T >::getFinalCenterOfMassPosition ( ) [protected]

Final center of mass position setter.

template<typename T>

HomogeneousMatrix3d& walk::PatternGenerator< T >::getFinalLeftFootPosition ( ) [protected]

Final left foot position setter.

template<typename T>

HomogeneousMatrix3d& walk::PatternGenerator< T >::getFinalLeftHandPosition ( ) [protected]

Final left hand position setter.

template<typename T>

Posture& walk::PatternGenerator< T >::getFinalPosture ( ) [protected]

Final posture setter.

template<typename T>

HomogeneousMatrix3d& walk::PatternGenerator< T >::getFinalRightFootPosition ( ) [protected]

Final right foot position setter.

template<typename T>

HomogeneousMatrix3d& walk::PatternGenerator< T >::getFinalRightHandPosition ( ) [protected]

Final right hand position setter.

template<typename T>

Vector3d& walk::PatternGenerator< T >::getInitialCenterOfMassPosition ( ) [protected]

Initial center of mass position setter.

template<typename T>

HomogeneousMatrix3d& walk::PatternGenerator< T >::getInitialLeftFootPosition ( ) [protected]

Initial left foot position setter.

template<typename T>

HomogeneousMatrix3d& walk::PatternGenerator< T >::getInitialLeftHandPosition ( ) [protected]

Initial left hand position setter.

template<typename T>

Posture& walk::PatternGenerator< T >::getInitialPosture ( ) [protected]

Initial posture setter.

template<typename T>

HomogeneousMatrix3d& walk::PatternGenerator< T >::getInitialRightFootPosition ( ) [protected]

Initial right foot position setter.

template<typename T>

HomogeneousMatrix3d& walk::PatternGenerator< T >::getInitialRightHandPosition ( ) [protected]

Initial right hand position setter.

template<typename T>

Trajectory3d& walk::PatternGenerator< T >::getLeftFootTrajectory ( ) [protected]

Left foot trajectory setter.

template<typename T>

Trajectory3d& walk::PatternGenerator< T >::getLeftHandTrajectory ( ) [protected]

Left hand trajectory setter.

template<typename T>

TrajectoryNd& walk::PatternGenerator< T >::getPostureTrajectory ( ) [protected]

Posture trajectory setter.

template<typename T>

Trajectory3d& walk::PatternGenerator< T >::getRightFootTrajectory ( ) [protected]

Right foot trajectory setter.

template<typename T>

Trajectory3d& walk::PatternGenerator< T >::getRightHandTrajectory ( ) [protected]

Right hand trajectory setter.

template<typename T>

TrajectoryV2d& walk::PatternGenerator< T >::getZmpTrajectory ( ) [protected]

ZMP trajectory setter.

template<typename T>

const Vector3d& walk::PatternGenerator< T >::initialCenterOfMassPosition ( ) const

Initial center of mass getter.

template<typename T>

const HomogeneousMatrix3d& walk::PatternGenerator< T >::initialLeftFootPosition ( ) const

Initial left foot position getter.

template<typename T>

const HomogeneousMatrix3d& walk::PatternGenerator< T >::initialLeftHandPosition ( ) const

Initial left hand position getter.

template<typename T>

const Posture& walk::PatternGenerator< T >::initialPosture ( ) const

Initial posture getter.

template<typename T>

const HomogeneousMatrix3d& walk::PatternGenerator< T >::initialRightFootPosition ( ) const

Initial right foot position getter.

template<typename T>

const HomogeneousMatrix3d& walk::PatternGenerator< T >::initialRightHandPosition ( ) const

Initial right hand position getter.

template<typename T>

const Trajectory3d& walk::PatternGenerator< T >::leftFootTrajectory ( ) const

Left foot trajectory getter.

template<typename T>

const Trajectory3d& walk::PatternGenerator< T >::leftHandTrajectory ( ) const

Left hand trajectory getter.

template<typename T>

PatternGenerator<T>& walk::PatternGenerator< T >::operator= ( const PatternGenerator< T > & )

Assignment operator.

template<typename T>

const TrajectoryNd& walk::PatternGenerator< T >::postureTrajectory ( ) const

Posture trajectory getter.

template<typename T>

const Trajectory3d& walk::PatternGenerator< T >::rightFootTrajectory ( ) const

Right foot trajectory getter.

template<typename T>

const Trajectory3d& walk::PatternGenerator< T >::rightHandTrajectory ( ) const

Right hand trajectory getter.

template<typename T>

void walk::PatternGenerator< T >::setFinalRobotPosition	(	const HomogeneousMatrix3d &	leftFoot,
		const HomogeneousMatrix3d &	rightFoot,
		const Vector3d &	centerOfMass,
		const Posture &	posture
	)

Define the final robot state.

Parameters:

leftFoot	left foot final position.
rightFoot	right foot final position.
centerOfMass	center of mass final position.
posture	final posture.

template<typename T>

void walk::PatternGenerator< T >::setFinalRobotPosition	(	const HomogeneousMatrix3d &	leftFoot,
		const HomogeneousMatrix3d &	rightFoot,
		const Vector3d &	centerOfMass,
		const Posture &	posture,
		const HomogeneousMatrix3d &	leftHand,
		const HomogeneousMatrix3d &	rightHand
	)

Define the final robot state.

Parameters:

leftFoot	left foot final position.
rightFoot	right foot final position.
centerOfMass	center of mass final position.
posture	final posture.
leftHand	left hand final position.
rightHand	right hand final position.

template<typename T>

void walk::PatternGenerator< T >::setFootprints	(	const footprints_t &	,
		bool	startWithLeftFoot
	)

Set the footprint sequence for the pattern generator.

Parameters:

startWithLeftFoot True if the movement first flying foot is the left foot, false otherwise. It is then assumed that the footprints alternate between left and right.

template<typename T>

void walk::PatternGenerator< T >::setInitialRobotPosition	(	const HomogeneousMatrix3d &	leftFoot,
		const HomogeneousMatrix3d &	rightFoot,
		const Vector3d &	centerOfMass,
		const Posture &	posture
	)

Define the initial robot state.

Parameters:

leftFoot	left foot initial position.
rightFoot	right foot initial position.
centerOfMass	center of mass initial position.
posture	initial posture.

template<typename T>

void walk::PatternGenerator< T >::setInitialRobotPosition	(	const HomogeneousMatrix3d &	leftFoot,
		const HomogeneousMatrix3d &	rightFoot,
		const Vector3d &	centerOfMass,
		const Posture &	posture,
		const HomogeneousMatrix3d &	leftHand,
		const HomogeneousMatrix3d &	rightHand
	)

Define the initial robot state.

Parameters:

leftFoot	left foot initial position.
rightFoot	right foot initial position.
centerOfMass	center of mass initial position.
posture	initial posture.
leftHand	left hand initial position.
rightHand	right hand initial position.