#include <GaitGenerator.h>

Public Member Functions
bool	get_current_refzmp (hrp::Vector3 &rzmp, std::vector< hrp::Vector3 > &swing_foot_zmp_offsets, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double default_double_support_static_ratio_before, const double default_double_support_static_ratio_after)
const hrp::Vector3 &	get_default_zmp_offset (const leg_type lt) const
double	get_heel_zmp_offset_x () const
const hrp::Vector3 &	get_refzmp_cur () const
double	get_toe_zmp_offset_x () const
bool	get_use_toe_heel_auto_set () const
bool	get_use_toe_heel_transition () const
const std::map< leg_type, double >	get_zmp_weight_map () const
void	proc_zmp_weight_map_interpolation ()
void	push_refzmp_from_footstep_nodes_for_dual (const std::vector< step_node > &fns, const std::vector< step_node > &_support_leg_steps, const std::vector< step_node > &_swing_leg_steps)
void	push_refzmp_from_footstep_nodes_for_single (const std::vector< step_node > &fns, const std::vector< step_node > &_support_leg_steps, const toe_heel_types &tht)
	refzmp_generator (const double _dt)
void	remove_refzmp_cur_list_over_length (const size_t len)
void	reset (const size_t _refzmp_count)
void	set_default_zmp_offsets (const std::vector< hrp::Vector3 > &tmp)
void	set_heel_zmp_offset_x (const double _off)
void	set_indices (const size_t idx)
void	set_refzmp_count (const size_t _refzmp_count)
bool	set_toe_heel_phase_ratio (const std::vector< double > &ratio)
void	set_toe_zmp_offset_x (const double _off)
void	set_use_toe_heel_auto_set (const bool _u)
void	set_use_toe_heel_transition (const bool _u)
void	set_zmp_weight_map (const std::map< leg_type, double > _map)
void	update_refzmp ()
	~refzmp_generator ()
Private Member Functions
void	calc_current_refzmp (hrp::Vector3 &ret, std::vector< hrp::Vector3 > &swing_foot_zmp_offsets, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double default_double_support_static_ratio_before, const double default_double_support_static_ratio_after)
const bool	is_end_double_support_phase () const
const bool	is_second_last_phase () const
const bool	is_second_phase () const
const bool	is_start_double_support_phase () const
Private Attributes
std::vector< hrp::Vector3 >	default_zmp_offsets
double	dt
std::vector< std::vector < hrp::Vector3 > >	foot_x_axises_list
double	heel_zmp_offset_x
size_t	one_step_count
size_t	refzmp_count
std::vector< hrp::Vector3 >	refzmp_cur_list
size_t	refzmp_index
std::vector< size_t >	step_count_list
std::vector< std::vector < leg_type > >	swing_leg_types_list
toe_heel_phase_counter	thp
std::vector< toe_heel_types >	toe_heel_types_list
double	toe_zmp_offset_x
bool	use_toe_heel_auto_set
bool	use_toe_heel_transition
boost::shared_ptr< interpolator >	zmp_weight_interpolator
std::map< leg_type, double >	zmp_weight_map

Detailed Description

Definition at line 281 of file GaitGenerator.h.

Constructor & Destructor Documentation

rats::refzmp_generator::refzmp_generator ( const double _dt ) [inline]

Definition at line 307 of file GaitGenerator.h.

rats::refzmp_generator::~refzmp_generator ( ) [inline]

Definition at line 323 of file GaitGenerator.h.

Member Function Documentation

void rats::refzmp_generator::calc_current_refzmp	(	hrp::Vector3 &	ret,
		std::vector< hrp::Vector3 > &	swing_foot_zmp_offsets,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after,
		const double	default_double_support_static_ratio_before,
		const double	default_double_support_static_ratio_after
	)		`[private]`

Definition at line 133 of file GaitGenerator.cpp.

bool rats::refzmp_generator::get_current_refzmp	(	hrp::Vector3 &	rzmp,
		std::vector< hrp::Vector3 > &	swing_foot_zmp_offsets,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after,
		const double	default_double_support_static_ratio_before,
		const double	default_double_support_static_ratio_after
	)		`[inline]`

Definition at line 372 of file GaitGenerator.h.

const hrp::Vector3& rats::refzmp_generator::get_default_zmp_offset ( const leg_type lt ) const [inline]

Definition at line 378 of file GaitGenerator.h.

double rats::refzmp_generator::get_heel_zmp_offset_x ( ) const [inline]

Definition at line 380 of file GaitGenerator.h.

const hrp::Vector3& rats::refzmp_generator::get_refzmp_cur ( ) const [inline]

Definition at line 377 of file GaitGenerator.h.

double rats::refzmp_generator::get_toe_zmp_offset_x ( ) const [inline]

Definition at line 379 of file GaitGenerator.h.

bool rats::refzmp_generator::get_use_toe_heel_auto_set ( ) const [inline]

Definition at line 382 of file GaitGenerator.h.

bool rats::refzmp_generator::get_use_toe_heel_transition ( ) const [inline]

Definition at line 381 of file GaitGenerator.h.

const std::map<leg_type, double> rats::refzmp_generator::get_zmp_weight_map ( ) const [inline]

Definition at line 383 of file GaitGenerator.h.

const bool rats::refzmp_generator::is_end_double_support_phase ( ) const [inline, private]

Definition at line 303 of file GaitGenerator.h.

const bool rats::refzmp_generator::is_second_last_phase ( ) const [inline, private]

Definition at line 302 of file GaitGenerator.h.

const bool rats::refzmp_generator::is_second_phase ( ) const [inline, private]

Definition at line 301 of file GaitGenerator.h.

const bool rats::refzmp_generator::is_start_double_support_phase ( ) const [inline, private]

Definition at line 300 of file GaitGenerator.h.

void rats::refzmp_generator::proc_zmp_weight_map_interpolation ( ) [inline]

Definition at line 384 of file GaitGenerator.h.

void rats::refzmp_generator::push_refzmp_from_footstep_nodes_for_dual	(	const std::vector< step_node > &	fns,
		const std::vector< step_node > &	_support_leg_steps,
		const std::vector< step_node > &	_swing_leg_steps
	)

Definition at line 74 of file GaitGenerator.cpp.

void rats::refzmp_generator::push_refzmp_from_footstep_nodes_for_single	(	const std::vector< step_node > &	fns,
		const std::vector< step_node > &	_support_leg_steps,
		const toe_heel_types &	tht
	)

Definition at line 106 of file GaitGenerator.cpp.

void rats::refzmp_generator::remove_refzmp_cur_list_over_length ( const size_t len ) [inline]

Definition at line 326 of file GaitGenerator.h.

void rats::refzmp_generator::reset ( const size_t _refzmp_count ) [inline]

Definition at line 334 of file GaitGenerator.h.

void rats::refzmp_generator::set_default_zmp_offsets ( const std::vector< hrp::Vector3 > & tmp ) [inline]

Definition at line 354 of file GaitGenerator.h.

void rats::refzmp_generator::set_heel_zmp_offset_x ( const double _off ) [inline]

Definition at line 356 of file GaitGenerator.h.

void rats::refzmp_generator::set_indices ( const size_t idx ) [inline]

Definition at line 352 of file GaitGenerator.h.

void rats::refzmp_generator::set_refzmp_count ( const size_t _refzmp_count ) [inline]

Definition at line 353 of file GaitGenerator.h.

bool rats::refzmp_generator::set_toe_heel_phase_ratio ( const std::vector< double > & ratio ) [inline]

Definition at line 370 of file GaitGenerator.h.

void rats::refzmp_generator::set_toe_zmp_offset_x ( const double _off ) [inline]

Definition at line 355 of file GaitGenerator.h.

void rats::refzmp_generator::set_use_toe_heel_auto_set ( const bool _u ) [inline]

Definition at line 358 of file GaitGenerator.h.

void rats::refzmp_generator::set_use_toe_heel_transition ( const bool _u ) [inline]

Definition at line 357 of file GaitGenerator.h.

void rats::refzmp_generator::set_zmp_weight_map ( const std::map< leg_type, double > _map ) [inline]

Definition at line 359 of file GaitGenerator.h.

void rats::refzmp_generator::update_refzmp ( )

Definition at line 207 of file GaitGenerator.cpp.

Member Data Documentation

std::vector<hrp::Vector3> rats::refzmp_generator::default_zmp_offsets [private]

Definition at line 292 of file GaitGenerator.h.

double rats::refzmp_generator::dt [private]

Definition at line 295 of file GaitGenerator.h.

std::vector< std::vector<hrp::Vector3> > rats::refzmp_generator::foot_x_axises_list [private]

Definition at line 288 of file GaitGenerator.h.

double rats::refzmp_generator::heel_zmp_offset_x [private]

Definition at line 294 of file GaitGenerator.h.

size_t rats::refzmp_generator::one_step_count [private]

Definition at line 293 of file GaitGenerator.h.

size_t rats::refzmp_generator::refzmp_count [private]

Definition at line 293 of file GaitGenerator.h.

std::vector<hrp::Vector3> rats::refzmp_generator::refzmp_cur_list [private]

Definition at line 286 of file GaitGenerator.h.

size_t rats::refzmp_generator::refzmp_index [private]

Definition at line 293 of file GaitGenerator.h.

std::vector<size_t> rats::refzmp_generator::step_count_list [private]

Definition at line 290 of file GaitGenerator.h.

std::vector< std::vector<leg_type> > rats::refzmp_generator::swing_leg_types_list [private]

Definition at line 289 of file GaitGenerator.h.

toe_heel_phase_counter rats::refzmp_generator::thp [private]

Definition at line 296 of file GaitGenerator.h.

std::vector<toe_heel_types> rats::refzmp_generator::toe_heel_types_list [private]

Definition at line 291 of file GaitGenerator.h.

double rats::refzmp_generator::toe_zmp_offset_x [private]

Definition at line 294 of file GaitGenerator.h.

bool rats::refzmp_generator::use_toe_heel_auto_set [private]

Definition at line 297 of file GaitGenerator.h.

bool rats::refzmp_generator::use_toe_heel_transition [private]

Definition at line 297 of file GaitGenerator.h.

boost::shared_ptr<interpolator> rats::refzmp_generator::zmp_weight_interpolator [private]

Definition at line 298 of file GaitGenerator.h.

std::map<leg_type, double> rats::refzmp_generator::zmp_weight_map [private]

Definition at line 287 of file GaitGenerator.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation