Classes | Enumerations | Functions | Variables
rats Namespace Reference

Classes

struct  coordinates
class  cross_delay_hoffarbib_trajectory_generator
class  cycloid_delay_hoffarbib_trajectory_generator
class  cycloid_delay_kick_hoffarbib_trajectory_generator
class  delay_hoffarbib_trajectory_generator
class  extended_preview_control
struct  footstep_parameter
class  gait_generator
class  leg_coords_generator
class  preview_control
class  preview_control_base
class  preview_dynamics_filter
class  rectangle_delay_hoffarbib_trajectory_generator
class  refzmp_generator
struct  riccati_equation
class  stair_delay_hoffarbib_trajectory_generator
struct  step_node
class  toe_heel_phase_counter
class  toe_heel_type_checker
struct  toe_heel_types
struct  velocity_mode_parameter

Enumerations

enum  leg_type {
  RLEG, LLEG, RARM, LARM,
  BOTH, ALL
}
enum  orbit_type {
  SHUFFLING, CYCLOID, RECTANGLE, STAIR,
  CYCLOIDDELAY, CYCLOIDDELAYKICK, CROSS
}
enum  stride_limitation_type { SQUARE, CIRCLE }
enum  toe_heel_phase {
  SOLE0, SOLE2TOE, TOE2SOLE, SOLE1,
  SOLE2HEEL, HEEL2SOLE, SOLE2, NUM_TH_PHASES
}
enum  toe_heel_type { SOLE, TOE, HEEL }

Functions

void cycloid_midpoint (hrp::Vector3 &ret, const double ratio, const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height, const double default_top_ratio)
void difference_rotation (hrp::Vector3 &ret_dif_rot, const hrp::Matrix33 &self_rot, const hrp::Matrix33 &target_rot)
bool eps_eq (const double a, const double b, const double eps=0.001)
std::string leg_type_to_leg_type_string (const leg_type l_r)
hrp::Vector3 matrix_log (const hrp::Matrix33 &m)
void mid_coords (coordinates &mid_coords, const double p, const coordinates &c1, const coordinates &c2, const double eps)
void mid_rot (hrp::Matrix33 &mid_rot, const double p, const hrp::Matrix33 &rot1, const hrp::Matrix33 &rot2, const double eps)
void multi_mid_coords (coordinates &ret, const std::vector< coordinates > &cs, const double eps)
void rotm3times (hrp::Matrix33 &m12, const hrp::Matrix33 &m1, const hrp::Matrix33 &m2)
double set_value_according_to_toe_heel_type (const toe_heel_type tht, const double toe_value, const double heel_value, const double default_value)

Variables

static const double DEFAULT_GRAVITATIONAL_ACCELERATION = 9.80665
static double no_using_toe_heel_ratio = 1.0
static double using_toe_heel_ratio = 0.0

Enumeration Type Documentation

Enumerator:
RLEG 
LLEG 
RARM 
LARM 
BOTH 
ALL 

Definition at line 26 of file GaitGenerator.h.

Enumerator:
SHUFFLING 
CYCLOID 
RECTANGLE 
STAIR 
CYCLOIDDELAY 
CYCLOIDDELAYKICK 
CROSS 

Definition at line 25 of file GaitGenerator.h.

Enumerator:
SQUARE 
CIRCLE 

Definition at line 27 of file GaitGenerator.h.

Enumerator:
SOLE0 
SOLE2TOE 
TOE2SOLE 
SOLE1 
SOLE2HEEL 
HEEL2SOLE 
SOLE2 
NUM_TH_PHASES 

Definition at line 111 of file GaitGenerator.h.

Enumerator:
SOLE 
TOE 
HEEL 

Definition at line 115 of file GaitGenerator.h.


Function Documentation

void rats::cycloid_midpoint ( hrp::Vector3 ret,
const double  ratio,
const hrp::Vector3 start,
const hrp::Vector3 goal,
const double  height,
const double  default_top_ratio 
)

Definition at line 14 of file GaitGenerator.cpp.

void rats::difference_rotation ( hrp::Vector3 ret_dif_rot,
const hrp::Matrix33 self_rot,
const hrp::Matrix33 target_rot 
)

Definition at line 40 of file RatsMatrix.cpp.

bool rats::eps_eq ( const double  a,
const double  b,
const double  eps = 0.001 
) [inline]

Definition at line 8 of file RatsMatrix.h.

std::string rats::leg_type_to_leg_type_string ( const leg_type  l_r)

Definition at line 54 of file GaitGenerator.cpp.

Definition at line 5 of file RatsMatrix.cpp.

void rats::mid_coords ( coordinates &  mid_coords,
const double  p,
const coordinates &  c1,
const coordinates &  c2,
const double  eps 
)

Definition at line 58 of file RatsMatrix.cpp.

void rats::mid_rot ( hrp::Matrix33 mid_rot,
const double  p,
const hrp::Matrix33 rot1,
const hrp::Matrix33 rot2,
const double  eps 
)

Definition at line 46 of file RatsMatrix.cpp.

void rats::multi_mid_coords ( coordinates &  ret,
const std::vector< coordinates > &  cs,
const double  eps 
)

Definition at line 37 of file GaitGenerator.cpp.

Definition at line 31 of file RatsMatrix.cpp.

double rats::set_value_according_to_toe_heel_type ( const toe_heel_type  tht,
const double  toe_value,
const double  heel_value,
const double  default_value 
)

Definition at line 62 of file GaitGenerator.cpp.


Variable Documentation

Definition at line 12 of file PreviewController.h.

double rats::no_using_toe_heel_ratio = 1.0 [static]

Definition at line 112 of file GaitGenerator.h.

double rats::using_toe_heel_ratio = 0.0 [static]

Definition at line 113 of file GaitGenerator.h.



hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:21