#include <pattern_generator.h>

Public Types
typedef boost::shared_ptr < PatternGenerator >	ConstPtr
typedef boost::shared_ptr < PatternGenerator >	Ptr
Public Member Functions
void	clearStepPlan ()
msgs::ErrorStatus	generatePattern (const msgs::StepPlanRequest &step_plan_request, msgs::StepPlan &step_plan)
void	getCompleteStepPlan (msgs::StepPlan &step_plan) const
void	getNewestStepPlan (msgs::StepPlan &step_plan) const
int	getNextStartStepIndex () const
bool	hasNewSteps () const
bool	hasSteps () const
bool	isEnabled () const
bool	isSimulationMode () const
	PatternGenerator (ros::NodeHandle &nh)
void	reset ()
void	setEnabled (bool enabled)
bool	setNextStartStepIndex (int step_index)
void	setParams (const msgs::PatternGeneratorParameters &params)
void	update (const ros::TimerEvent &timer)
void	updateFirstChangeableStepIndex (int first_changeable_step_index)
void	updateLastPerformedStepIndex (int last_performed_step_index)
virtual	~PatternGenerator ()
Private Member Functions
void	generateSteps (unsigned int n, bool close_step=false)
void	mapToVectorIndexed (const std::map< unsigned int, msgs::Step > &map, std::vector< msgs::Step > &vec, unsigned int start_index, unsigned int end_index) const
void	updateFeetStartPose (uint8_t foot_index, const geometry_msgs::Pose &pose)
void	updateFeetStartPose (const msgs::Foot &foot)
void	updateFeetStartPose (const msgs::Feet &feet)
void	updateFeetStartPose (const msgs::Step &step)
bool	updateFeetStartPoseByStepMap (const std::map< unsigned int, msgs::Step > &map, unsigned int step_index)
void	updateFootstepMap (std::map< unsigned int, msgs::Step > &map, const std::vector< msgs::Step > &vec) const
Private Attributes
msgs::StepPlan	complete_step_plan
boost::shared_ptr < actionlib::SimpleActionClient < msgs::ExecuteStepPlanAction > >	execute_step_plan_ac
int	first_changeable_step_index
unsigned int	foot_start_step_index_left
unsigned int	foot_start_step_index_right
ros::ServiceClient	generate_feet_pose_client
bool	has_new_steps
geometry_msgs::Pose	joy_d_step
JoystickHandler::Ptr	joystick_handler
int	last_performed_step_index
msgs::StepPlan	newest_step_plan
int	next_step_index_needed
unsigned int	number_of_steps_needed
msgs::PatternGeneratorParameters	params
msgs::Feet::Ptr	start_feet_pose
std::map< unsigned int, msgs::Step >	step_map
ros::ServiceClient	step_plan_request_client
ros::ServiceClient	stitch_step_plan_client
std::string	world_frame_id

Detailed Description

Definition at line 52 of file pattern_generator.h.

Member Typedef Documentation

typedef boost::shared_ptr<PatternGenerator> vigir_footstep_planning::PatternGenerator::ConstPtr

Definition at line 82 of file pattern_generator.h.

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

Definition at line 81 of file pattern_generator.h.

Constructor & Destructor Documentation

vigir_footstep_planning::PatternGenerator::PatternGenerator ( ros::NodeHandle & nh )

Definition at line 5 of file pattern_generator.cpp.

vigir_footstep_planning::PatternGenerator::~PatternGenerator ( ) [virtual]

Definition at line 24 of file pattern_generator.cpp.

Member Function Documentation

void vigir_footstep_planning::PatternGenerator::clearStepPlan ( )

Definition at line 158 of file pattern_generator.cpp.

msgs::ErrorStatus vigir_footstep_planning::PatternGenerator::generatePattern	(	const msgs::StepPlanRequest &	step_plan_request,
		msgs::StepPlan &	step_plan
	)

Definition at line 27 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::generateSteps	(	unsigned int	n,
		bool	close_step = `false`
	)		`[private]`

Definition at line 319 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::getCompleteStepPlan ( msgs::StepPlan & step_plan ) const

Definition at line 132 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::getNewestStepPlan ( msgs::StepPlan & step_plan ) const

Definition at line 137 of file pattern_generator.cpp.

int vigir_footstep_planning::PatternGenerator::getNextStartStepIndex ( ) const

Definition at line 153 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::hasNewSteps ( ) const

Definition at line 127 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::hasSteps ( ) const

Definition at line 122 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::isEnabled ( ) const

Definition at line 112 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::isSimulationMode ( ) const

Definition at line 117 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::mapToVectorIndexed	(	const std::map< unsigned int, msgs::Step > &	map,
		std::vector< msgs::Step > &	vec,
		unsigned int	start_index,
		unsigned int	end_index
	)		const `[private]`

TODO: Workaround for avoiding z drift

Definition at line 295 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::reset ( )

Definition at line 44 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::setEnabled ( bool enabled )

Definition at line 89 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::setNextStartStepIndex ( int step_index )

Definition at line 143 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::setParams ( const msgs::PatternGeneratorParameters & params )

Definition at line 63 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::update ( const ros::TimerEvent & timer )

Definition at line 165 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFeetStartPose	(	uint8_t	foot_index,
		const geometry_msgs::Pose &	pose
	)		`[private]`

Definition at line 220 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFeetStartPose ( const msgs::Foot & foot ) [private]

Definition at line 230 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFeetStartPose ( const msgs::Feet & feet ) [private]

Definition at line 254 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFeetStartPose ( const msgs::Step & step ) [private]

Definition at line 262 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::updateFeetStartPoseByStepMap	(	const std::map< unsigned int, msgs::Step > &	map,
		unsigned int	step_index
	)		`[private]`

Definition at line 273 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFirstChangeableStepIndex ( int first_changeable_step_index )

Definition at line 206 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFootstepMap	(	std::map< unsigned int, msgs::Step > &	map,
		const std::vector< msgs::Step > &	vec
	)		const `[private]`