A class representing a footstep (i.e. a translation and rotation of a specific foot with respect to the supporting leg) that can be performed by a humanoid robot. More...

#include <footstep.h>

Public Member Functions
	Footstep (double x, double y, double theta, double step_cost, double cell_size, int num_angle_bins, int max_hash_size)
	The constructor takes the continuous translation and rotation of the footstep and calculates the respective discretized footstep based on the parameters of the discretization.
double	getStepCost () const
PlanningState	performMeOnThisState (const PlanningState &current) const
	Performs this footstep (translation and rotation) on a given planning state.
PlanningState	reverseMeOnThisState (const PlanningState &current) const
	Reverse this footstep on a given planning state.
	~Footstep ()
Private Types
typedef std::pair< int, int >	footstep_xy
	Typedef representing the (discretized) translation of the footstep.
Private Member Functions
int	calculateForwardStep (Leg leg, int global_theta, double x, double y, int footstep_x, int footstep_y) const
	Discretizes the translation of the footstep for a certain (discretized) orientation of a possible state.
void	init (double x, double y)
	Initialization method called within the constructor.
Private Attributes
double	ivAngleBinSize
double	ivCellSize
	The parameter for the discretization of the translation.
std::vector< footstep_xy >	ivDiscPredecessorLeft
	The reversed (discretized) translation(s) for a left supporting foot.
std::vector< footstep_xy >	ivDiscPredecessorRight
	The reversed (discretized) translation(s) for a right supporting foot.
std::vector< footstep_xy >	ivDiscSuccessorLeft
	The (discretized) translation(s) for a left supporting foot.
std::vector< footstep_xy >	ivDiscSuccessorRight
	The (discretized) translation(s) for a right supporting foot.
int	ivMaxHashSize
	The maximal hash size.
int	ivNumAngleBins
	The parameter for the discretization of the rotation.
double	ivStepCost
int	ivTheta
	The (discretized) rotation of the footstep.

Detailed Description

A class representing a footstep (i.e. a translation and rotation of a specific foot with respect to the supporting leg) that can be performed by a humanoid robot.

Since the underlying SBPL is working on discretized states the footsteps are also a discretized translations and rotations.

Definition at line 44 of file footstep.h.

Member Typedef Documentation

typedef std::pair<int, int> vigir_footstep_planning::Footstep::footstep_xy [private]

Typedef representing the (discretized) translation of the footstep.

Definition at line 88 of file footstep.h.

Constructor & Destructor Documentation

vigir_footstep_planning::Footstep::Footstep	(	double	x,
		double	y,
		double	theta,
		double	step_cost,
		double	cell_size,
		int	num_angle_bins,
		int	max_hash_size
	)

The constructor takes the continuous translation and rotation of the footstep and calculates the respective discretized footstep based on the parameters of the discretization.

Parameters:

x	The (continuous) translation in x direction.
y	The (continuous) translation in y direction.
theta	The (continuous) rotation.
cell_size	Parameter to discretize the translation (see PlanningState for further explanation).
num_angle_bins	Parameter to discretize the rotation (see PlanningState for further explanation).
max_hash_size	The maximal hash size.

Definition at line 32 of file footstep.cpp.

vigir_footstep_planning::Footstep::~Footstep ( )

Definition at line 47 of file footstep.cpp.

Member Function Documentation

int vigir_footstep_planning::Footstep::calculateForwardStep	(	Leg	leg,
		int	global_theta,
		double	x,
		double	y,
		int *	footstep_x,
		int *	footstep_y
	)		const `[private]`

Discretizes the translation of the footstep for a certain (discretized) orientation of a possible state.

Parameters:

leg	The supporting leg of the possible state.
global_theta	The (discretized) orientation of the possible state.
x	The (continuous) translation in x direction.
y	The (continuous) translation in y direction.
footstep_x	The resulting (discretized) translation in x direction.
footstep_y	The resulting (discretized) translation in y direction.

Returns:: The (discretized) orientation of the resulting state after performing the footstep. This is used to calculate the (discretized) reversed footstep.

Definition at line 158 of file footstep.cpp.

double vigir_footstep_planning::Footstep::getStepCost ( ) const [inline]

Definition at line 84 of file footstep.h.