Classes | Namespaces | Enumerations | Functions | Variables
GaitGenerator.h File Reference
#include "PreviewController.h"
#include "../ImpedanceController/RatsMatrix.h"
#include "interpolator.h"
#include <vector>
#include <queue>
#include <boost/assign.hpp>
#include <boost/lambda/lambda.hpp>
#include <boost/shared_ptr.hpp>
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Classes

class  rats::cross_delay_hoffarbib_trajectory_generator
 
class  rats::cycloid_delay_hoffarbib_trajectory_generator
 
class  rats::cycloid_delay_kick_hoffarbib_trajectory_generator
 
class  rats::delay_hoffarbib_trajectory_generator
 
struct  rats::footstep_parameter
 
class  rats::gait_generator
 
class  rats::leg_coords_generator
 
class  rats::rectangle_delay_hoffarbib_trajectory_generator
 
class  rats::refzmp_generator
 
class  rats::stair_delay_hoffarbib_trajectory_generator
 
struct  rats::step_node
 
class  rats::toe_heel_phase_counter
 
class  rats::toe_heel_type_checker
 
struct  rats::toe_heel_types
 
struct  rats::velocity_mode_parameter
 

Namespaces

 rats
 

Enumerations

enum  rats::leg_type {
  rats::RLEG, rats::LLEG, rats::RARM, rats::LARM,
  rats::BOTH, rats::ALL
}
 
enum  rats::orbit_type {
  rats::SHUFFLING, rats::CYCLOID, rats::RECTANGLE, rats::STAIR,
  rats::CYCLOIDDELAY, rats::CYCLOIDDELAYKICK, rats::CROSS
}
 
enum  rats::stride_limitation_type { rats::SQUARE, rats::CIRCLE }
 
enum  rats::toe_heel_phase {
  rats::SOLE0, rats::SOLE2TOE, rats::TOE2SOLE, rats::SOLE1,
  rats::SOLE2HEEL, rats::HEEL2SOLE, rats::SOLE2, rats::NUM_TH_PHASES
}
 
enum  rats::toe_heel_type { rats::SOLE, rats::TOE, rats::HEEL }
 

Functions

void rats::cycloid_midpoint (hrp::Vector3 &ret, const double ratio, const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height, const double default_top_ratio)
 
std::string rats::leg_type_to_leg_type_string (const leg_type l_r)
 
void rats::multi_mid_coords (coordinates &ret, const std::vector< coordinates > &cs, const double eps)
 
double rats::set_value_according_to_toe_heel_type (const toe_heel_type tht, const double toe_value, const double heel_value, const double default_value)
 

Variables

static double rats::no_using_toe_heel_ratio = 1.0
 
static double rats::using_toe_heel_ratio = 0.0
 


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:52