vigir_footstep_planning::FeetPoseGenerator Class Reference

#include <feet_pose_generator.h>

List of all members.

Public Types
typedef boost::shared_ptr < const FeetPoseGenerator >	ConstPtr
typedef boost::shared_ptr < FeetPoseGenerator >	Ptr
Public Member Functions
	FeetPoseGenerator (ros::NodeHandle &nh)
msgs::ErrorStatus	generateFeetPose (const msgs::FeetPoseRequest &request, msgs::Feet &feet)
void	setRobotPose (const geometry_msgs::PoseStampedConstPtr &robot_pose)
void	setRobotPoseWithCovariance (const geometry_msgs::PoseWithCovarianceStampedConstPtr &robot_pose)
void	setTerrainModel (const vigir_terrain_classifier::TerrainModelMsg::ConstPtr &terrain_model)
virtual	~FeetPoseGenerator ()
Protected Member Functions
msgs::Feet	generateFeetPose (const geometry_msgs::PoseStamped &pose)
bool	getCurrentFeetPose (msgs::Feet &feet, const std::string &request_frame)
void	pelvisToGroundTransform (msgs::Feet &feet) const
msgs::ErrorStatus	updateFeetPose (msgs::Feet &feet) const
Protected Attributes
double	foot_separation
bool	has_robot_pose
std::string	left_foot_frame_id
double	left_foot_shift_z
geometry_msgs::Vector3	pelvis_to_feet_center
std::string	right_foot_frame_id
double	right_foot_shift_z
geometry_msgs::PoseStamped	robot_pose
vigir_terrain_classifier::TerrainModel::Ptr	terrain_model
tf::TransformListener	tf_listener
ros::ServiceClient	transform_feet_poses_client

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Detailed Description

Definition at line 48 of file feet_pose_generator.h.

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Member Typedef Documentation

typedef boost::shared_ptr<const FeetPoseGenerator> vigir_footstep_planning::FeetPoseGenerator::ConstPtr

Definition at line 63 of file feet_pose_generator.h.

typedef boost::shared_ptr<FeetPoseGenerator> vigir_footstep_planning::FeetPoseGenerator::Ptr

Definition at line 62 of file feet_pose_generator.h.

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Constructor & Destructor Documentation

vigir_footstep_planning::FeetPoseGenerator::FeetPoseGenerator

(

ros::NodeHandle &

nh

)

Definition at line 5 of file feet_pose_generator.cpp.

vigir_footstep_planning::FeetPoseGenerator::~FeetPoseGenerator

(

)

[virtual]

Definition at line 28 of file feet_pose_generator.cpp.

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Member Function Documentation

msgs::ErrorStatus vigir_footstep_planning::FeetPoseGenerator::generateFeetPose	(	const msgs::FeetPoseRequest &	request,
		msgs::Feet &	feet
	)

Definition at line 55 of file feet_pose_generator.cpp.

msgs::Feet vigir_footstep_planning::FeetPoseGenerator::generateFeetPose

(

const geometry_msgs::PoseStamped &

pose

)

[protected]

This method assumes that the given pose is in center between both feet.

Definition at line 170 of file feet_pose_generator.cpp.

bool vigir_footstep_planning::FeetPoseGenerator::getCurrentFeetPose	(	msgs::Feet &	feet,
		const std::string &	request_frame
	)		[protected]

Definition at line 146 of file feet_pose_generator.cpp.

void vigir_footstep_planning::FeetPoseGenerator::pelvisToGroundTransform

(

msgs::Feet &

feet

)

const [protected]

TODO: Transform pelvis_to_feet_center to world frame!

Definition at line 196 of file feet_pose_generator.cpp.

void vigir_footstep_planning::FeetPoseGenerator::setRobotPose

(

const geometry_msgs::PoseStampedConstPtr &

robot_pose

)

Definition at line 32 of file feet_pose_generator.cpp.

void vigir_footstep_planning::FeetPoseGenerator::setRobotPoseWithCovariance

(

const geometry_msgs::PoseWithCovarianceStampedConstPtr &

robot_pose

)

Definition at line 39 of file feet_pose_generator.cpp.

void vigir_footstep_planning::FeetPoseGenerator::setTerrainModel

(

const vigir_terrain_classifier::TerrainModelMsg::ConstPtr &

terrain_model

)

Definition at line 46 of file feet_pose_generator.cpp.

msgs::ErrorStatus vigir_footstep_planning::FeetPoseGenerator::updateFeetPose

(

msgs::Feet &

feet

)

const [protected]

Definition at line 130 of file feet_pose_generator.cpp.

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Member Data Documentation

double vigir_footstep_planning::FeetPoseGenerator::foot_separation [protected]

Definition at line 85 of file feet_pose_generator.h.

bool vigir_footstep_planning::FeetPoseGenerator::has_robot_pose [protected]

Definition at line 91 of file feet_pose_generator.h.

std::string vigir_footstep_planning::FeetPoseGenerator::left_foot_frame_id [protected]

Definition at line 82 of file feet_pose_generator.h.

double vigir_footstep_planning::FeetPoseGenerator::left_foot_shift_z [protected]

Definition at line 86 of file feet_pose_generator.h.

geometry_msgs::Vector3 vigir_footstep_planning::FeetPoseGenerator::pelvis_to_feet_center [protected]

Definition at line 89 of file feet_pose_generator.h.

std::string vigir_footstep_planning::FeetPoseGenerator::right_foot_frame_id [protected]

Definition at line 83 of file feet_pose_generator.h.

double vigir_footstep_planning::FeetPoseGenerator::right_foot_shift_z [protected]

Definition at line 87 of file feet_pose_generator.h.

geometry_msgs::PoseStamped vigir_footstep_planning::FeetPoseGenerator::robot_pose [protected]

Definition at line 92 of file feet_pose_generator.h.

vigir_terrain_classifier::TerrainModel::Ptr vigir_footstep_planning::FeetPoseGenerator::terrain_model [protected]

Definition at line 80 of file feet_pose_generator.h.

tf::TransformListener vigir_footstep_planning::FeetPoseGenerator::tf_listener [protected]

Definition at line 94 of file feet_pose_generator.h.

ros::ServiceClient vigir_footstep_planning::FeetPoseGenerator::transform_feet_poses_client [protected]

Definition at line 78 of file feet_pose_generator.h.

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

• feet_pose_generator.h
• feet_pose_generator.cpp