Namespaces | Classes | Enumerations | Functions | Variables
vigir_footstep_planning Namespace Reference

Namespaces

namespace  threading
namespace  vis

Classes

class  Footstep
 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...
class  FootstepPlanningVisNode
class  PlanningState
 A class representing the robot's pose (i.e. position and orientation) in the underlying SBPL. More precisely a planning state is a discrete representation of the robot's supporting leg. More...
class  SimpleActionClient
class  SimpleActionServer
class  Singleton
class  State
 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...

Enumerations

enum  Leg { RIGHT = 0, LEFT = 1, NOLEG = 2 }

Functions

double angle_cell_2_state (int angle, double angle_bin_size)
 Calculate the respective (continuous) angle for a bin.
int angle_state_2_cell (double angle, double angle_bin_size)
 Discretize a (continuous) angle into a bin.
unsigned int calc_hash_tag (int x, int y, int theta, int leg, unsigned int hash_pred, unsigned int hash_succ, int max_hash_size)
double cell_2_state (int value, double cell_size)
 Calculate the respective (continuous) state value for a cell. (Should be used to get a State from a discretized PlanningState.)
double cont_val (int length, double cell_size)
 Calculates the continuous value for a length discretized in cell size.
msgs::ErrorStatus determineGoalFeetPose (msgs::Feet &goal_feet, ros::ServiceClient &generate_feet_pose_client, const geometry_msgs::PoseStamped &goal_pose)
msgs::ErrorStatus determineStartFeetPose (msgs::Feet &start_feet, ros::ServiceClient &generate_feet_pose_client, const std_msgs::Header &header)
int disc_val (double length, double cell_size)
 Discretize a (continuous) value into cell size.
double euclidean_distance (int x1, int y1, int x2, int y2)
double euclidean_distance (double x1, double y1, double x2, double y2)
double euclidean_distance (int x1, int y1, int z1, int x2, int y2, int z2)
double euclidean_distance (double x1, double y1, double z1, double x2, double y2, double z2)
double euclidean_distance_sq (int x1, int y1, int x2, int y2)
double euclidean_distance_sq (double x1, double y1, double x2, double y2)
double euclidean_distance_sq (int x1, int y1, int z1, int x2, int y2, int z2)
double euclidean_distance_sq (double x1, double y1, double z1, double x2, double y2, double z2)
void getDeltaStep (const msgs::Foot &current, const msgs::Foot &next, geometry_msgs::Pose &dstep)
void getDeltaStep (const tf::Pose &current, const tf::Pose &next, tf::Pose &dstep)
bool getFootSize (ros::NodeHandle &nh, geometry_msgs::Vector3 &foot_size)
bool getGridMapCoords (const nav_msgs::OccupancyGrid &map, double x, double y, int &map_x, int &map_y)
bool getGridMapIndex (const nav_msgs::OccupancyGrid &map, double x, double y, int &idx)
bool getRPY (ros::NodeHandle &nh, const std::string name, geometry_msgs::Vector3 &val)
bool getUpperBodyOriginShift (ros::NodeHandle &nh, geometry_msgs::Vector3 &upper_body_origin_shift)
bool getUpperBodySize (ros::NodeHandle &nh, geometry_msgs::Vector3 &upper_body_size)
bool getXYZ (ros::NodeHandle &nh, const std::string name, geometry_msgs::Vector3 &val)
double grid_cost (int x1, int y1, int x2, int y2, float cell_size)
unsigned int int_hash (int key)
void normalToQuaternion (const geometry_msgs::Vector3 &n, double yaw, geometry_msgs::Quaternion &q)
void normalToRP (const geometry_msgs::Vector3 &n, double yaw, double &r, double &p)
double parabol (double x, double y, double a_inv, double b_inv)
double pceil (double x, double prec)
double pfloor (double x, double prec)
bool pointWithinPolygon (int x, int y, const std::vector< std::pair< int, int > > &edges)
 Crossing number method to determine whether a point lies within a polygon or not.
double pround (double x, double prec)
void quaternionToNormal (const geometry_msgs::Quaternion &q, geometry_msgs::Vector3 &n)
void quaternionToNormalYaw (const geometry_msgs::Quaternion &q, geometry_msgs::Vector3 &n, double &yaw)
void RPYToNormal (double r, double p, double y, geometry_msgs::Vector3 &n)
int state_2_cell (float value, float cell_size)
 Discretize a (continuous) state value into a cell. (Should be used to discretize a State to a PlanningState.)
std::string & strip (std::string &s, const char c)
std::string strip_const (const std::string &s, const char c)
msgs::ErrorStatus transform (msgs::Foot &foot, ros::ServiceClient &transform_foot_pose_client, const std::string &target_frame)
msgs::ErrorStatus transform (msgs::Feet &feet, ros::ServiceClient &transform_feet_poses_client, const std::string &target_frame)
msgs::ErrorStatus transform (msgs::StepPlan &step_plan, ros::ServiceClient &transform_step_plan_client, const std::string &target_frame)
template<typename T >
msgs::ErrorStatus transformToPlannerFrame (T &p, ros::ServiceClient &foot_pose_transformer_client)
template<typename T >
msgs::ErrorStatus transformToRobotFrame (T &p, ros::ServiceClient &foot_pose_transformer_client)

Variables

static const int cvMmScale = 1000
 Used to scale continuous values in meter to discrete values in mm.
static const double FLOAT_CMP_THR = 0.0001
static const double TWO_PI = 2 * M_PI

Enumeration Type Documentation

Enumerator:
RIGHT 
LEFT 
NOLEG 

Definition at line 54 of file math.h.


Function Documentation

double vigir_footstep_planning::angle_cell_2_state ( int  angle,
double  angle_bin_size 
) [inline]

Calculate the respective (continuous) angle for a bin.

Definition at line 178 of file math.h.

int vigir_footstep_planning::angle_state_2_cell ( double  angle,
double  angle_bin_size 
) [inline]

Discretize a (continuous) angle into a bin.

Definition at line 167 of file math.h.

unsigned int vigir_footstep_planning::calc_hash_tag ( int  x,
int  y,
int  theta,
int  leg,
unsigned int  hash_pred,
unsigned int  hash_succ,
int  max_hash_size 
) [inline]
Returns:
The hash tag for a PlanningState (represented by x, y, theta and leg). The component z may be ignored because it depends directly on x and y. Also swing height and step duration will be uniquely selected for each x and y tupel.

Definition at line 229 of file math.h.

double vigir_footstep_planning::cell_2_state ( int  value,
double  cell_size 
) [inline]

Calculate the respective (continuous) state value for a cell. (Should be used to get a State from a discretized PlanningState.)

Definition at line 202 of file math.h.

double vigir_footstep_planning::cont_val ( int  length,
double  cell_size 
) [inline]

Calculates the continuous value for a length discretized in cell size.

Definition at line 159 of file math.h.

msgs::ErrorStatus vigir_footstep_planning::determineGoalFeetPose ( msgs::Feet &  goal_feet,
ros::ServiceClient generate_feet_pose_client,
const geometry_msgs::PoseStamped &  goal_pose 
)

Definition at line 43 of file helper.cpp.

msgs::ErrorStatus vigir_footstep_planning::determineStartFeetPose ( msgs::Feet &  start_feet,
ros::ServiceClient generate_feet_pose_client,
const std_msgs::Header header 
)

Definition at line 5 of file helper.cpp.

int vigir_footstep_planning::disc_val ( double  length,
double  cell_size 
) [inline]

Discretize a (continuous) value into cell size.

Definition at line 147 of file math.h.

double vigir_footstep_planning::euclidean_distance ( int  x1,
int  y1,
int  x2,
int  y2 
) [inline]
Returns:
Euclidean distance between two integer coordinates (cells).

Definition at line 88 of file math.h.

double vigir_footstep_planning::euclidean_distance ( double  x1,
double  y1,
double  x2,
double  y2 
) [inline]
Returns:
Euclidean distance between two coordinates.

Definition at line 94 of file math.h.

double vigir_footstep_planning::euclidean_distance ( int  x1,
int  y1,
int  z1,
int  x2,
int  y2,
int  z2 
) [inline]
Returns:
Euclidean distance between two integer coordinates (cells).

Definition at line 100 of file math.h.

double vigir_footstep_planning::euclidean_distance ( double  x1,
double  y1,
double  z1,
double  x2,
double  y2,
double  z2 
) [inline]
Returns:
Euclidean distance between two coordinates.

Definition at line 106 of file math.h.

double vigir_footstep_planning::euclidean_distance_sq ( int  x1,
int  y1,
int  x2,
int  y2 
) [inline]
Returns:
Squared euclidean distance between two integer coordinates (cells).

Definition at line 61 of file math.h.

double vigir_footstep_planning::euclidean_distance_sq ( double  x1,
double  y1,
double  x2,
double  y2 
) [inline]
Returns:
Squared euclidean distance between two coordinates.

Definition at line 68 of file math.h.

double vigir_footstep_planning::euclidean_distance_sq ( int  x1,
int  y1,
int  z1,
int  x2,
int  y2,
int  z2 
) [inline]

Definition at line 74 of file math.h.

double vigir_footstep_planning::euclidean_distance_sq ( double  x1,
double  y1,
double  z1,
double  x2,
double  y2,
double  z2 
) [inline]
Returns:
Squared euclidean distance between two coordinates.

Definition at line 81 of file math.h.

void vigir_footstep_planning::getDeltaStep ( const msgs::Foot &  current,
const msgs::Foot &  next,
geometry_msgs::Pose dstep 
)

Definition at line 27 of file math.cpp.

void vigir_footstep_planning::getDeltaStep ( const tf::Pose current,
const tf::Pose next,
tf::Pose dstep 
)

Definition at line 54 of file math.cpp.

Definition at line 130 of file helper.cpp.

bool vigir_footstep_planning::getGridMapCoords ( const nav_msgs::OccupancyGrid &  map,
double  x,
double  y,
int &  map_x,
int &  map_y 
)

Definition at line 147 of file helper.cpp.

bool vigir_footstep_planning::getGridMapIndex ( const nav_msgs::OccupancyGrid &  map,
double  x,
double  y,
int &  idx 
)

Definition at line 159 of file helper.cpp.

bool vigir_footstep_planning::getRPY ( ros::NodeHandle nh,
const std::string  name,
geometry_msgs::Vector3 val 
)

Definition at line 116 of file helper.cpp.

Definition at line 140 of file helper.cpp.

Definition at line 135 of file helper.cpp.

bool vigir_footstep_planning::getXYZ ( ros::NodeHandle nh,
const std::string  name,
geometry_msgs::Vector3 val 
)

Definition at line 102 of file helper.cpp.

double vigir_footstep_planning::grid_cost ( int  x1,
int  y1,
int  x2,
int  y2,
float  cell_size 
) [inline]
Returns:
The distance of two neighbored cell.

Definition at line 117 of file math.h.

unsigned int vigir_footstep_planning::int_hash ( int  key) [inline]
Returns:
The hash value of the key.

Definition at line 210 of file math.h.

void vigir_footstep_planning::normalToQuaternion ( const geometry_msgs::Vector3 n,
double  yaw,
geometry_msgs::Quaternion &  q 
)

Definition at line 84 of file math.cpp.

void vigir_footstep_planning::normalToRP ( const geometry_msgs::Vector3 n,
double  yaw,
double &  r,
double &  p 
)

Definition at line 104 of file math.cpp.

double vigir_footstep_planning::parabol ( double  x,
double  y,
double  a_inv,
double  b_inv 
) [inline]

Definition at line 111 of file math.h.

double vigir_footstep_planning::pceil ( double  x,
double  prec 
) [inline]

Definition at line 134 of file math.h.

double vigir_footstep_planning::pfloor ( double  x,
double  prec 
) [inline]

Definition at line 139 of file math.h.

bool vigir_footstep_planning::pointWithinPolygon ( int  x,
int  y,
const std::vector< std::pair< int, int > > &  edges 
)

Crossing number method to determine whether a point lies within a polygon or not.

Parameters:
edges(x,y)-points defining the polygon.

Check http://geomalgorithms.com/a03-_inclusion.html for further details.

Definition at line 5 of file math.cpp.

double vigir_footstep_planning::pround ( double  x,
double  prec 
) [inline]

Definition at line 129 of file math.h.

void vigir_footstep_planning::quaternionToNormal ( const geometry_msgs::Quaternion &  q,
geometry_msgs::Vector3 n 
)

Definition at line 73 of file math.cpp.

void vigir_footstep_planning::quaternionToNormalYaw ( const geometry_msgs::Quaternion &  q,
geometry_msgs::Vector3 n,
double &  yaw 
)

Definition at line 60 of file math.cpp.

void vigir_footstep_planning::RPYToNormal ( double  r,
double  p,
double  y,
geometry_msgs::Vector3 n 
)

Definition at line 91 of file math.cpp.

int vigir_footstep_planning::state_2_cell ( float  value,
float  cell_size 
) [inline]

Discretize a (continuous) state value into a cell. (Should be used to discretize a State to a PlanningState.)

Definition at line 191 of file math.h.

std::string& vigir_footstep_planning::strip ( std::string &  s,
const char  c 
) [inline]

Definition at line 153 of file helper.h.

std::string vigir_footstep_planning::strip_const ( const std::string &  s,
const char  c 
) [inline]

Definition at line 154 of file helper.h.

msgs::ErrorStatus vigir_footstep_planning::transform ( msgs::Foot &  foot,
ros::ServiceClient transform_foot_pose_client,
const std::string &  target_frame 
)

Definition at line 58 of file helper.cpp.

msgs::ErrorStatus vigir_footstep_planning::transform ( msgs::Feet &  feet,
ros::ServiceClient transform_feet_poses_client,
const std::string &  target_frame 
)

Definition at line 72 of file helper.cpp.

msgs::ErrorStatus vigir_footstep_planning::transform ( msgs::StepPlan &  step_plan,
ros::ServiceClient transform_step_plan_client,
const std::string &  target_frame 
)

Definition at line 86 of file helper.cpp.

template<typename T >
msgs::ErrorStatus vigir_footstep_planning::transformToPlannerFrame ( T p,
ros::ServiceClient foot_pose_transformer_client 
)

Definition at line 125 of file helper.h.

template<typename T >
msgs::ErrorStatus vigir_footstep_planning::transformToRobotFrame ( T p,
ros::ServiceClient foot_pose_transformer_client 
)

Definition at line 131 of file helper.h.


Variable Documentation

const int vigir_footstep_planning::cvMmScale = 1000 [static]

Used to scale continuous values in meter to discrete values in mm.

Definition at line 52 of file math.h.

const double vigir_footstep_planning::FLOAT_CMP_THR = 0.0001 [static]

Definition at line 49 of file math.h.

const double vigir_footstep_planning::TWO_PI = 2 * M_PI [static]

Definition at line 47 of file math.h.



vigir_footstep_planning_lib
Author(s): Alexander Stumpf
autogenerated on Sat Jul 15 2017 02:47:56