towr::QuadrupedGaitGenerator Class Reference

Produces the contact sequence for a variety of four-legged gaits. More...

#include <quadruped_gait_generator.h>

Inheritance diagram for towr::QuadrupedGaitGenerator:

List of all members.

Public Member Functions
	QuadrupedGaitGenerator ()
virtual	~QuadrupedGaitGenerator ()
Private Member Functions
GaitInfo	GetGait (Gaits gait) const override
GaitInfo	GetStrideBound () const
GaitInfo	GetStrideBoundEnd () const
GaitInfo	GetStrideFlight () const
GaitInfo	GetStrideGallop () const
GaitInfo	GetStrideLimp () const
GaitInfo	GetStridePace () const
GaitInfo	GetStridePaceEnd () const
GaitInfo	GetStridePronk () const
GaitInfo	GetStrideStand () const
GaitInfo	GetStrideTrot () const
GaitInfo	GetStrideTrotFly () const
GaitInfo	GetStrideTrotFlyEnd () const
GaitInfo	GetStrideWalk () const
GaitInfo	GetStrideWalkOverlap () const
void	SetCombo (Combos combo) override
	Sets a specific sequence of gaits.
Private Attributes
ContactState	bb_
ContactState	Bb_
ContactState	bB_
ContactState	BB_
ContactState	bI_
ContactState	BI_
ContactState	bP_
ContactState	BP_
ContactState	Ib_
ContactState	IB_
ContactState	II_
ContactState	IP_
ContactState	Pb_
ContactState	PB_
ContactState	PI_
ContactState	PP_

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Detailed Description

Produces the contact sequence for a variety of four-legged gaits.

See also:

GaitGenerator for more documentation

Definition at line 42 of file quadruped_gait_generator.h.

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Constructor & Destructor Documentation

towr::QuadrupedGaitGenerator::QuadrupedGaitGenerator

(

)

Definition at line 39 of file quadruped_gait_generator.cc.

virtual towr::QuadrupedGaitGenerator::~QuadrupedGaitGenerator

(

)

[virtual]

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Member Function Documentation

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetGait

(

Gaits

gait

)

const [override, private, virtual]

Implements towr::GaitGenerator.

Definition at line 90 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideBound

(

)

const [private]

Definition at line 291 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideBoundEnd

(

)

const [private]

Definition at line 309 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideFlight

(

)

const [private]

Definition at line 129 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideGallop

(

)

const [private]

Definition at line 324 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideLimp

(

)

const [private]

Definition at line 348 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStridePace

(

)

const [private]

Definition at line 258 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStridePaceEnd

(

)

const [private]

Definition at line 276 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStridePronk

(

)

const [private]

Definition at line 144 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideStand

(

)

const [private]

Definition at line 114 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideTrot

(

)

const [private]

Definition at line 207 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideTrotFly

(

)

const [private]

Definition at line 224 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideTrotFlyEnd

(

)

const [private]

Definition at line 243 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideWalk

(

)

const [private]

Definition at line 163 of file quadruped_gait_generator.cc.

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideWalkOverlap

(

)

const [private]

Definition at line 182 of file quadruped_gait_generator.cc.

void towr::QuadrupedGaitGenerator::SetCombo

(

Combos

combo

)

[override, private, 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.

Implements towr::GaitGenerator.

Definition at line 77 of file quadruped_gait_generator.cc.

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Member Data Documentation

ContactState towr::QuadrupedGaitGenerator::bb_ [private]

Definition at line 84 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::Bb_ [private]

Definition at line 86 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::bB_ [private]

Definition at line 88 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::BB_ [private]

Definition at line 91 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::bI_ [private]

Definition at line 75 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::BI_ [private]

Definition at line 81 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::bP_ [private]

Definition at line 80 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::BP_ [private]

Definition at line 87 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::Ib_ [private]

Definition at line 77 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::IB_ [private]

Definition at line 82 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::II_ [private]

Definition at line 72 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::IP_ [private]

Definition at line 76 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::Pb_ [private]

Definition at line 79 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::PB_ [private]

Definition at line 89 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::PI_ [private]

Definition at line 74 of file quadruped_gait_generator.h.

ContactState towr::QuadrupedGaitGenerator::PP_ [private]

Definition at line 83 of file quadruped_gait_generator.h.

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The documentation for this class was generated from the following files:

• quadruped_gait_generator.h
• quadruped_gait_generator.cc