#include <GaitGenerator.h>

Inheritance diagram for rats::delay_hoffarbib_trajectory_generator:

Public Member Functions
double	calc_antecedent_path_base (const std::vector< hrp::Vector3 > org_point_vec)
	delay_hoffarbib_trajectory_generator ()
double	get_swing_trajectory_delay_time_offset () const
double	get_swing_trajectory_final_distance_weight () const
double	get_swing_trajectory_time_offset_xy2z () const
void	get_trajectory_point (hrp::Vector3 &ret, const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height)
hrp::Vector3	interpolate_antecedent_path (const double tmp_ratio) const
void	reset (const size_t _one_step_len, const double default_double_support_ratio_before, const double default_double_support_ratio_after)
void	reset_all (const double _dt, const size_t _one_step_len, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double _time_offset, const double _final_distance_weight, const double _time_offset_xy2z)
void	set_dt (const double _dt)
void	set_swing_trajectory_delay_time_offset (const double _time_offset)
void	set_swing_trajectory_final_distance_weight (const double _final_distance_weight)
void	set_swing_trajectory_time_offset_xy2z (const double _tmp)
	~delay_hoffarbib_trajectory_generator ()
Protected Member Functions
virtual double	calc_antecedent_path (const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height)=0
Protected Attributes
size_t	current_count
size_t	double_support_count_after
size_t	double_support_count_before
double	final_distance_weight
size_t	one_step_count
double	time_offset
double	time_offset_xy2z
Private Member Functions
void	hoffarbib_interpolation (double &_pos, double &_vel, double &_acc, const double tmp_remain_time, const double tmp_goal, const double tmp_goal_vel=0, const double tmp_goal_acc=0)
Private Attributes
hrp::Vector3	acc
std::vector< double >	distance_vec
double	dt
std::vector< hrp::Vector3 >	point_vec
hrp::Vector3	pos
std::vector< double >	sum_distance_vec
double	total_path_length
hrp::Vector3	vel

Detailed Description

Definition at line 397 of file GaitGenerator.h.

Constructor & Destructor Documentation

rats::delay_hoffarbib_trajectory_generator::delay_hoffarbib_trajectory_generator ( ) [inline]

Definition at line 424 of file GaitGenerator.h.

rats::delay_hoffarbib_trajectory_generator::~delay_hoffarbib_trajectory_generator ( ) [inline]

Definition at line 425 of file GaitGenerator.h.

Member Function Documentation

virtual double rats::delay_hoffarbib_trajectory_generator::calc_antecedent_path	(	const hrp::Vector3 &	start,
		const hrp::Vector3 &	goal,
		const double	height
	)		`[protected, pure virtual]`

Implemented in rats::cross_delay_hoffarbib_trajectory_generator, rats::cycloid_delay_kick_hoffarbib_trajectory_generator, rats::cycloid_delay_hoffarbib_trajectory_generator, rats::stair_delay_hoffarbib_trajectory_generator, and rats::rectangle_delay_hoffarbib_trajectory_generator.

double rats::delay_hoffarbib_trajectory_generator::calc_antecedent_path_base ( const std::vector< hrp::Vector3 > org_point_vec ) [inline]

Definition at line 496 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::get_swing_trajectory_delay_time_offset ( ) const [inline]

Definition at line 489 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::get_swing_trajectory_final_distance_weight ( ) const [inline]

Definition at line 490 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::get_swing_trajectory_time_offset_xy2z ( ) const [inline]

Definition at line 491 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::get_trajectory_point	(	hrp::Vector3 &	ret,
		const hrp::Vector3 &	start,
		const hrp::Vector3 &	goal,
		const double	height
	)		`[inline]`

Definition at line 447 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::hoffarbib_interpolation	(	double &	_pos,
		double &	_vel,
		double &	_acc,
		const double	tmp_remain_time,
		const double	tmp_goal,
		const double	tmp_goal_vel = `0`,
		const double	tmp_goal_acc = `0`
	)		`[inline, private]`

Definition at line 408 of file GaitGenerator.h.

hrp::Vector3 rats::delay_hoffarbib_trajectory_generator::interpolate_antecedent_path ( const double tmp_ratio ) const [inline]

Definition at line 527 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::reset	(	const size_t	_one_step_len,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after
	)		`[inline]`

Definition at line 430 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::reset_all	(	const double	_dt,
		const size_t	_one_step_len,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after,
		const double	_time_offset,
		const double	_final_distance_weight,
		const double	_time_offset_xy2z
	)		`[inline]`