Generates endeffector phase durations for predefined gait styles. More...
#include <gait_generator.h>
Public Types | |
| enum | Combos { C0, C1, C2, C3, C4, COMBO_COUNT } |
| Predefined combinations of different strides. More... | |
| enum | Gaits { Stand = 0, Flight, Walk1, Walk2, Walk2E, Run2, Run2E, Run1, Run1E, Run3, Run3E, Hop1, Hop1E, Hop2, Hop3, Hop3E, Hop5, Hop5E, GAIT_COUNT } |
| Predefined strides, each with a different gait diagram. More... | |
Public Member Functions | |
| GaitGenerator () | |
| VecTimes | GetPhaseDurations (double T, EE ee) const |
| bool | IsInContactAtStart (EE ee) const |
| virtual void | SetCombo (Combos combo)=0 |
| Sets a specific sequence of gaits. | |
| void | SetGaits (const std::vector< Gaits > &gaits) |
| Sets the times_ and contacts_ variables according to the gaits. | |
| virtual | ~GaitGenerator () |
Static Public Member Functions | |
| static Ptr | MakeGaitGenerator (int leg_count) |
Protected Member Functions | |
| GaitInfo | RemoveTransition (const GaitInfo &g) const |
Protected Attributes | |
| std::vector< ContactState > | contacts_ |
| std::vector< double > | times_ |
| Phase times for the complete robot during which no contact state changes. | |
Private Member Functions | |
| virtual GaitInfo | GetGait (Gaits gait) const =0 |
| VecTimes | GetNormalizedPhaseDurations (EE ee) const |
| FootDurations | GetPhaseDurations () const |
Detailed Description
Generates endeffector phase durations for predefined gait styles.
These gaits (e.g. quadruped trotting, biped walking) are used to initialize the towr optimization problem.
Definition at line 46 of file gait_generator.h.
Member Enumeration Documentation
Predefined combinations of different strides.
Definition at line 58 of file gait_generator.h.
Predefined strides, each with a different gait diagram.
- Enumerator:
Stand Flight Walk1 Walk2 Walk2E Run2 Run2E Run1 Run1E Run3 Run3E Hop1 Hop1E Hop2 Hop3 Hop3E Hop5 Hop5E GAIT_COUNT
Definition at line 63 of file gait_generator.h.
Constructor & Destructor Documentation
| virtual towr::GaitGenerator::~GaitGenerator | ( | ) | [virtual] |
Member Function Documentation
| virtual GaitInfo towr::GaitGenerator::GetGait | ( | Gaits | gait | ) | const [private, pure virtual] |
Implemented in towr::BipedGaitGenerator, towr::MonopedGaitGenerator, and towr::QuadrupedGaitGenerator.
| GaitGenerator::VecTimes towr::GaitGenerator::GetNormalizedPhaseDurations | ( | EE | ee | ) | const [private] |
Definition at line 66 of file gait_generator.cc.
| GaitGenerator::VecTimes towr::GaitGenerator::GetPhaseDurations | ( | double | T, |
| EE | ee | ||
| ) | const |
- Returns:
- the swing and stance durations for the set gait.
- Parameters:
-
ee endeffector for which the phase durations are desired. T total time for all phases, durations are scaled by that.
Definition at line 55 of file gait_generator.cc.
| GaitGenerator::FootDurations towr::GaitGenerator::GetPhaseDurations | ( | ) | const [private] |
Definition at line 77 of file gait_generator.cc.
| bool towr::GaitGenerator::IsInContactAtStart | ( | EE | ee | ) | const |
- Returns:
- true if the foot is initially in contact with the environment.
- Parameters:
-
ee The endeffector/foot/hand.
Definition at line 108 of file gait_generator.cc.
| GaitGenerator::Ptr towr::GaitGenerator::MakeGaitGenerator | ( | int | leg_count | ) | [static] |
Definition at line 44 of file gait_generator.cc.
| GaitGenerator::GaitInfo towr::GaitGenerator::RemoveTransition | ( | const GaitInfo & | g | ) | const [protected] |
Removes the last phase that would transition to a new stride. This is usually necessary for a gait change.
Definition at line 132 of file gait_generator.cc.
| virtual void towr::GaitGenerator::SetCombo | ( | Combos | combo | ) | [pure virtual] |
Sets a specific sequence of gaits.
The derived class decides what each combo maps to. This function then fills the times_ and contacts_ variables accordingly.
Implemented in towr::QuadrupedGaitGenerator, towr::BipedGaitGenerator, and towr::MonopedGaitGenerator.
| void towr::GaitGenerator::SetGaits | ( | const std::vector< Gaits > & | gaits | ) |
Sets the times_ and contacts_ variables according to the gaits.
- Parameters:
-
gaits The sequence of steps which defines gait. For example use {Stand,Walk1,Walk1,Stand} to declare walking gait with two steps.
Definition at line 114 of file gait_generator.cc.
Member Data Documentation
std::vector<ContactState> towr::GaitGenerator::contacts_ [protected] |
The contact state for the complete robot. The size of this vector must be equal to the above times_.
Definition at line 109 of file gait_generator.h.
std::vector<double> towr::GaitGenerator::times_ [protected] |
Phase times for the complete robot during which no contact state changes.
Definition at line 103 of file gait_generator.h.
The documentation for this class was generated from the following files: