Inheritance diagram for testGaitGenerator:

Public Member Functions
bool	check_all_results () const
void	parse_params (bool is_print_doc_setring=true)
void	test0 ()
void	test1 ()
void	test10 ()
void	test11 ()
void	test12 ()
void	test13 ()
void	test14 ()
void	test15 ()
void	test16 ()
void	test17 ()
void	test18 ()
void	test19 ()
void	test2 ()
void	test20 ()
void	test3 ()
void	test4 ()
void	test5 ()
void	test6 ()
void	test7 ()
void	test8 ()
void	test9 ()
	testGaitGenerator (double _dt)
virtual	~testGaitGenerator ()
Public Attributes
std::vector< std::string >	arg_strs
Protected Attributes
std::vector< std::string >	all_limbs
ValueDifferenceChecker < hrp::Vector3 >	cartzmp_diff_checker
hrp::Vector3	cog
ValueDifferenceChecker < hrp::Vector3 >	cog_diff_checker
ValueErrorChecker	cogzmp_error_checker
double	dt
std::string	fname_cogzmp
std::string	fname_fpos
std::string	fname_fposvel
std::string	fname_frot
std::string	fname_frotvel
std::string	fname_ssmc
std::string	fname_ssmcvel
std::string	fname_sstime
std::string	fname_thpos
std::string	fname_zoff
ValueDifferenceChecker < std::vector< hrp::Vector3 > >	footpos_diff_checker
ValueDifferenceChecker < std::vector< hrp::Vector3 > >	footposvel_diff_checker
ValueDifferenceChecker < std::vector< hrp::Vector3 > >	footrot_diff_checker
ValueDifferenceChecker < std::vector< hrp::Vector3 > >	footrotvel_diff_checker
FILE *	fp_cogzmp
FILE *	fp_fpos
FILE *	fp_fposvel
FILE *	fp_frot
FILE *	fp_frotvel
FILE *	fp_ssmc
FILE *	fp_ssmcvel
FILE *	fp_sstime
FILE *	fp_thpos
FILE *	fp_zoff
gait_generator *	gg
bool	is_contact_states_swing_support_time_validity
bool	is_step_time_valid
bool	is_toe_heel_dif_angle_valid
bool	is_toe_heel_zmp_offset_x_valid
std::vector< hrp::Vector3 >	leg_pos
hrp::Vector3	max_lfoot_pos
hrp::Vector3	max_rfoot_pos
double	max_toe_heel_dif_angle
std::vector< double >	max_toe_heel_dif_angle_list
double	max_zmp_offset_x
std::vector< double >	max_zmp_offset_x_list
hrp::Vector3	min_lfoot_pos
hrp::Vector3	min_rfoot_pos
double	min_toe_heel_dif_angle
std::vector< double >	min_toe_heel_dif_angle_list
double	min_zmp_offset_x
std::vector< double >	min_zmp_offset_x_list
std::vector< bool >	prev_contact_states
hrp::Vector3	prev_lfoot_pos
hrp::Vector3	prev_lfoot_rpy
hrp::Vector3	prev_refzmp
hrp::Vector3	prev_rfoot_pos
hrp::Vector3	prev_rfoot_rpy
coordinates	prev_ssmc
std::vector< double >	prev_swing_support_time
ValueDifferenceChecker < hrp::Vector3 >	refzmp_diff_checker
ValueDifferenceChecker < hrp::Vector3 >	ssmcpos_diff_checker
ValueDifferenceChecker < hrp::Vector3 >	ssmcposvel_diff_checker
ValueDifferenceChecker < hrp::Vector3 >	ssmcrot_diff_checker
ValueDifferenceChecker < hrp::Vector3 >	ssmcrotvel_diff_checker
std::vector< double >	step_time_list
std::string	test_doc_string
bool	use_gnuplot
bool	use_graph_append
ValueErrorChecker	zmp_error_checker
ValueDifferenceChecker < std::vector< hrp::Vector3 > >	zmpoffset_diff_checker
Private Member Functions
void	check_end_values ()
void	check_start_values ()
void	gen_and_plot_walk_pattern (const step_node &initial_support_leg_step, const step_node &initial_swing_leg_dst_step)
void	gen_and_plot_walk_pattern ()
void	plot_and_print_errorcheck ()
void	plot_and_save (FILE *gp, const std::string graph_fname, const std::string plot_str)
void	proc_one_walking_motion (size_t i)

Detailed Description

Definition at line 100 of file testGaitGenerator.cpp.

Constructor & Destructor Documentation

testGaitGenerator::testGaitGenerator ( double _dt ) [inline]

Definition at line 797 of file testGaitGenerator.cpp.

virtual testGaitGenerator::~testGaitGenerator ( ) [inline, virtual]

Definition at line 821 of file testGaitGenerator.cpp.

Member Function Documentation

bool testGaitGenerator::check_all_results ( ) const [inline]

Definition at line 1345 of file testGaitGenerator.cpp.

void testGaitGenerator::check_end_values ( ) [inline, private]

Definition at line 706 of file testGaitGenerator.cpp.

void testGaitGenerator::check_start_values ( ) [inline, private]

Definition at line 699 of file testGaitGenerator.cpp.

void testGaitGenerator::gen_and_plot_walk_pattern	(	const step_node &	initial_support_leg_step,
		const step_node &	initial_swing_leg_dst_step
	)		`[inline, private]`