vigir_footstep_planning::State Class Reference

A class representing the robot's pose (i.e. position and orientation) in the (continuous) world view. More precisely a state points to the robot's supporting leg. More...

#include <state.h>

List of all members.

Public Member Functions
const geometry_msgs::Vector3 &	getBodyVelocity () const
double	getCost () const
void	getFoot (msgs::Foot &foot) const
double	getGroundContactSupport () const
Leg	getLeg () const
const geometry_msgs::Vector3 &	getNormal () const
double	getNormalX () const
double	getNormalY () const
double	getNormalZ () const
double	getPitch () const
const tf::Pose &	getPose () const
tf::Pose &	getPose ()
double	getRisk () const
double	getRoll () const
void	getStep (msgs::Step &step) const
double	getStepDuration () const
double	getSwayDistance () const
double	getSwayDuration () const
double	getSwingDistance () const
double	getSwingHeight () const
double	getX () const
double	getY () const
double	getYaw () const
double	getZ () const
bool	operator!= (const State &s2) const
	Inequality operator for two states (negates the equality operator).
bool	operator== (const State &s2) const
	Compare two states on equality of x, y, theta, leg upon a certain degree of float precision.
void	setBodyVelocity (const geometry_msgs::Vector3 &body_vel)
void	setCost (double cost)
void	setGroundContactSupport (double ground_contact_support)
void	setLeg (Leg leg)
void	setNormal (const geometry_msgs::Vector3 &normal)
void	setNormal (double x, double y, double z)
void	setOrientation (const geometry_msgs::Quaternion &q)
void	setPitch (double pitch)
void	setPosition (const geometry_msgs::Point &position)
void	setRisk (double risk)
void	setRoll (double roll)
void	setRPY (double roll, double pitch, double yaw)
void	setStepDuration (double step_duration)
void	setSwayDistance (double sway_distance)
void	setSwayDuration (double sway_duration)
void	setSwingDistance (double swing_distance)
void	setSwingHeight (double swing_height)
void	setX (double x)
void	setY (double y)
void	setYaw (double yaw)
void	setZ (double z)
	State ()
	State (double x, double y, double z, double roll, double pitch, double yaw, Leg leg)
	State (const geometry_msgs::Vector3 &position, double roll, double pitch, double yaw, Leg leg)
	State (const geometry_msgs::Vector3 &position, const geometry_msgs::Vector3 &normal, double yaw, Leg leg)
	State (const geometry_msgs::Pose &pose, Leg leg)
	State (const tf::Transform &t, Leg leg)
	State (const msgs::Foot foot)
	State (const msgs::Step step)
	~State ()
Private Member Functions
void	recomputeNormal ()
Private Attributes
geometry_msgs::Vector3	body_vel
double	cost
double	ivGroundContactSupport
	percentage of ground contact support (0.0 - 1.0 = 100%)
Leg	ivLeg
	The robot's supporting leg.
geometry_msgs::Vector3	ivNormal
	The normal of foot in world.
double	ivPitch
tf::Pose	ivPose
double	ivRoll
	The robot's orientation.
double	ivStepDuration
double	ivSwayDuration
double	ivSwingHeight
double	ivYaw
double	risk
double	sway_distance
double	swing_distance

---

Detailed Description

A class representing the robot's pose (i.e. position and orientation) in the (continuous) world view. More precisely a state points to the robot's supporting leg.

Definition at line 49 of file state.h.

---

Constructor & Destructor Documentation

vigir_footstep_planning::State::State

(

)

Definition at line 5 of file state.cpp.

vigir_footstep_planning::State::State	(	double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		Leg	leg
	)

Definition at line 27 of file state.cpp.

vigir_footstep_planning::State::State	(	const geometry_msgs::Vector3 &	position,
		double	roll,
		double	pitch,
		double	yaw,
		Leg	leg
	)

Definition at line 48 of file state.cpp.

vigir_footstep_planning::State::State	(	const geometry_msgs::Vector3 &	position,
		const geometry_msgs::Vector3 &	normal,
		double	yaw,
		Leg	leg
	)

Definition at line 53 of file state.cpp.

vigir_footstep_planning::State::State	(	const geometry_msgs::Pose &	pose,
		Leg	leg
	)

Definition at line 71 of file state.cpp.

vigir_footstep_planning::State::State	(	const tf::Transform &	t,
		Leg	leg
	)

vigir_footstep_planning::State::State

(

const msgs::Foot

foot

)

Definition at line 107 of file state.cpp.

vigir_footstep_planning::State::State

(

const msgs::Step

step

)

Definition at line 112 of file state.cpp.

vigir_footstep_planning::State::~State

(

)

Definition at line 120 of file state.cpp.

---

Member Function Documentation

const geometry_msgs::Vector3& vigir_footstep_planning::State::getBodyVelocity

(

)

const [inline]

Definition at line 114 of file state.h.

double vigir_footstep_planning::State::getCost

(

)

const [inline]

Definition at line 115 of file state.h.

void vigir_footstep_planning::State::getFoot

(

msgs::Foot &

foot

)

const

Definition at line 206 of file state.cpp.

double vigir_footstep_planning::State::getGroundContactSupport

(

)

const [inline]

Definition at line 113 of file state.h.

Leg vigir_footstep_planning::State::getLeg

(

)

const [inline]

Definition at line 112 of file state.h.

const geometry_msgs::Vector3& vigir_footstep_planning::State::getNormal

(

)

const [inline]

Definition at line 103 of file state.h.

double vigir_footstep_planning::State::getNormalX

(

)

const [inline]

Definition at line 104 of file state.h.

double vigir_footstep_planning::State::getNormalY

(

)

const [inline]

Definition at line 105 of file state.h.

double vigir_footstep_planning::State::getNormalZ

(

)

const [inline]

Definition at line 106 of file state.h.

double vigir_footstep_planning::State::getPitch

(

)

const [inline]

Definition at line 101 of file state.h.

const tf::Pose& vigir_footstep_planning::State::getPose

(

)

const [inline]

Definition at line 118 of file state.h.

tf::Pose& vigir_footstep_planning::State::getPose

(

)

[inline]

Definition at line 119 of file state.h.

double vigir_footstep_planning::State::getRisk

(

)

const [inline]

Definition at line 116 of file state.h.

double vigir_footstep_planning::State::getRoll

(

)

const [inline]

Definition at line 100 of file state.h.

void vigir_footstep_planning::State::getStep

(

msgs::Step &

step

)

const

Definition at line 195 of file state.cpp.

double vigir_footstep_planning::State::getStepDuration

(

)

const [inline]

Definition at line 109 of file state.h.

double vigir_footstep_planning::State::getSwayDistance

(

)

const [inline]

Definition at line 110 of file state.h.

double vigir_footstep_planning::State::getSwayDuration

(

)

const [inline]

Definition at line 108 of file state.h.

double vigir_footstep_planning::State::getSwingDistance

(

)

const [inline]

Definition at line 111 of file state.h.

double vigir_footstep_planning::State::getSwingHeight

(

)

const [inline]

Definition at line 107 of file state.h.

double vigir_footstep_planning::State::getX

(

)

const [inline]

Definition at line 97 of file state.h.

double vigir_footstep_planning::State::getY

(

)

const [inline]

Definition at line 98 of file state.h.

double vigir_footstep_planning::State::getYaw

(

)

const [inline]

Definition at line 102 of file state.h.

double vigir_footstep_planning::State::getZ

(

)

const [inline]

Definition at line 99 of file state.h.

bool vigir_footstep_planning::State::operator!=

(

const State &

s2

)

const

Inequality operator for two states (negates the equality operator).

Definition at line 134 of file state.cpp.

bool vigir_footstep_planning::State::operator==

(

const State &

s2

)

const

Compare two states on equality of x, y, theta, leg upon a certain degree of float precision.

Definition at line 123 of file state.cpp.

void vigir_footstep_planning::State::recomputeNormal

(

)

[private]

Definition at line 215 of file state.cpp.

void vigir_footstep_planning::State::setBodyVelocity

(

const geometry_msgs::Vector3 &

body_vel

)

[inline]

Definition at line 93 of file state.h.

void vigir_footstep_planning::State::setCost

(

double

cost

)

[inline]

Definition at line 94 of file state.h.

void vigir_footstep_planning::State::setGroundContactSupport

(

double

ground_contact_support

)

[inline]

Definition at line 92 of file state.h.

void vigir_footstep_planning::State::setLeg

(

Leg

leg

)

[inline]

Definition at line 91 of file state.h.

void vigir_footstep_planning::State::setNormal

(

const geometry_msgs::Vector3 &

normal

)

Definition at line 165 of file state.cpp.

void vigir_footstep_planning::State::setNormal	(	double	x,
		double	y,
		double	z
	)

Definition at line 186 of file state.cpp.

void vigir_footstep_planning::State::setOrientation

(

const geometry_msgs::Quaternion &

q

)

Definition at line 146 of file state.cpp.

void vigir_footstep_planning::State::setPitch

(

double

pitch

)

[inline]

Definition at line 80 of file state.h.

void vigir_footstep_planning::State::setPosition

(

const geometry_msgs::Point &

position

)

Definition at line 139 of file state.cpp.

void vigir_footstep_planning::State::setRisk

(

double

risk

)

[inline]

Definition at line 95 of file state.h.

void vigir_footstep_planning::State::setRoll

(

double

roll

)

[inline]

Definition at line 79 of file state.h.

void vigir_footstep_planning::State::setRPY	(	double	roll,
		double	pitch,
		double	yaw
	)

Definition at line 155 of file state.cpp.

void vigir_footstep_planning::State::setStepDuration

(

double

step_duration

)

[inline]

Definition at line 88 of file state.h.

void vigir_footstep_planning::State::setSwayDistance

(

double

sway_distance

)

[inline]

Definition at line 89 of file state.h.

void vigir_footstep_planning::State::setSwayDuration

(

double

sway_duration

)

[inline]

Definition at line 87 of file state.h.

void vigir_footstep_planning::State::setSwingDistance

(

double

swing_distance

)

[inline]

Definition at line 90 of file state.h.

void vigir_footstep_planning::State::setSwingHeight

(

double

swing_height

)

[inline]

Definition at line 86 of file state.h.

void vigir_footstep_planning::State::setX

(

double

x

)

[inline]

Definition at line 75 of file state.h.

void vigir_footstep_planning::State::setY

(

double

y

)

[inline]

Definition at line 76 of file state.h.

void vigir_footstep_planning::State::setYaw

(

double

yaw

)

[inline]

Definition at line 81 of file state.h.

void vigir_footstep_planning::State::setZ

(

double

z

)

[inline]

Definition at line 77 of file state.h.

---

Member Data Documentation

geometry_msgs::Vector3 vigir_footstep_planning::State::body_vel [private]

Definition at line 144 of file state.h.

double vigir_footstep_planning::State::cost [private]

Definition at line 149 of file state.h.

double vigir_footstep_planning::State::ivGroundContactSupport [private]

percentage of ground contact support (0.0 - 1.0 = 100%)

Definition at line 142 of file state.h.

Leg vigir_footstep_planning::State::ivLeg [private]

The robot's supporting leg.

Definition at line 129 of file state.h.

geometry_msgs::Vector3 vigir_footstep_planning::State::ivNormal [private]

The normal of foot in world.

Definition at line 136 of file state.h.

double vigir_footstep_planning::State::ivPitch [private]

Definition at line 133 of file state.h.

tf::Pose vigir_footstep_planning::State::ivPose [private]

Definition at line 126 of file state.h.

double vigir_footstep_planning::State::ivRoll [private]

The robot's orientation.

Definition at line 132 of file state.h.

double vigir_footstep_planning::State::ivStepDuration [private]

Definition at line 139 of file state.h.

double vigir_footstep_planning::State::ivSwayDuration [private]

Definition at line 138 of file state.h.

double vigir_footstep_planning::State::ivSwingHeight [private]

Definition at line 137 of file state.h.

double vigir_footstep_planning::State::ivYaw [private]

Definition at line 134 of file state.h.

double vigir_footstep_planning::State::risk [private]

Definition at line 150 of file state.h.

double vigir_footstep_planning::State::sway_distance [private]

Definition at line 146 of file state.h.

double vigir_footstep_planning::State::swing_distance [private]

Definition at line 147 of file state.h.

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

• state.h
• state.cpp