Classes | Public Member Functions | Protected Attributes | Private Types | Private Member Functions | Private Attributes | List of all members
AutoBalancer Class Reference

#include <AutoBalancer.h>

Inheritance diagram for AutoBalancer:
Inheritance graph
[legend]

Classes

struct  ABCIKparam
 

Public Member Functions

bool adjustFootSteps (const OpenHRP::AutoBalancerService::Footstep &rfootstep, const OpenHRP::AutoBalancerService::Footstep &lfootstep)
 
 AutoBalancer (RTC::Manager *manager)
 
void distributeReferenceZMPToWrenches (const hrp::Vector3 &_ref_zmp)
 
bool emergencyStop ()
 
bool getAutoBalancerParam (OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)
 
bool getFootstepParam (OpenHRP::AutoBalancerService::FootstepParam &i_param)
 
bool getGaitGeneratorParam (OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)
 
bool getGoPosFootstepsSequence (const double &x, const double &y, const double &th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep)
 
bool getRemainingFootstepSequence (OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep, CORBA::Long &o_current_fs_idx)
 
bool goPos (const double &x, const double &y, const double &th)
 
bool goStop ()
 
bool goVelocity (const double &vx, const double &vy, const double &vth)
 
virtual RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
 
virtual RTC::ReturnCode_t onDeactivated (RTC::UniqueId ec_id)
 
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
 
virtual RTC::ReturnCode_t onFinalize ()
 
virtual RTC::ReturnCode_t onInitialize ()
 
bool releaseEmergencyStop ()
 
bool setAutoBalancerParam (const OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)
 
bool setFootSteps (const OpenHRP::AutoBalancerService::FootstepSequence &fs, CORBA::Long overwrite_fs_idx)
 
bool setFootSteps (const OpenHRP::AutoBalancerService::FootstepsSequence &fss, CORBA::Long overwrite_fs_idx)
 
bool setFootStepsWithParam (const OpenHRP::AutoBalancerService::FootstepSequence &fs, const OpenHRP::AutoBalancerService::StepParamSequence &sps, CORBA::Long overwrite_fs_idx)
 
bool setFootStepsWithParam (const OpenHRP::AutoBalancerService::FootstepsSequence &fss, const OpenHRP::AutoBalancerService::StepParamsSequence &spss, CORBA::Long overwrite_fs_idx)
 
bool setGaitGeneratorParam (const OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)
 
bool startAutoBalancer (const ::OpenHRP::AutoBalancerService::StrSequence &limbs)
 
bool stopAutoBalancer ()
 
void waitFootSteps ()
 
void waitFootStepsEarly (const double tm)
 
virtual ~AutoBalancer ()
 
- Public Member Functions inherited from RTC::DataFlowComponentBase
 DataFlowComponentBase (Manager *manager)
 
void init ()
 
virtual ~DataFlowComponentBase (void)
 
- Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t activate (RTC::UniqueId ec_id)
 
void addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
 
ConfigurationParamListeneraddConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
 
void addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
 
ConfigurationSetListeneraddConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
 
void addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
 
ConfigurationSetNameListeneraddConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
 
void addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
 
ECActionListeneraddExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
 
bool addInPort (const char *name, InPortBase &inport)
 
bool addOutPort (const char *name, OutPortBase &outport)
 
bool addPort (PortBase &port)
 
bool addPort (PortService_ptr port)
 
bool addPort (CorbaPort &port)
 
PortActionListeneraddPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
 
void addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
 
void addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
 
PortConnectListeneraddPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
 
void addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
 
PortConnectRetListeneraddPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
 
void addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
 
PostComponentActionListeneraddPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
 
void addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
 
PreComponentActionListeneraddPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
 
bool addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)
 
bool addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
 
UniqueId attach_context (ExecutionContext_ptr exec_context)
 
UniqueId bindContext (ExecutionContext_ptr exec_context)
 
bool bindParameter (const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
 
ReturnCode_t deactivate (RTC::UniqueId ec_id)
 
void deletePort (PortService_ptr port)
 
void deletePort (CorbaPort &port)
 
void deletePort (PortBase &port)
 
void deletePortByName (const char *port_name)
 
ReturnCode_t detach_context (UniqueId exec_handle)
 
virtual ReturnCode_t exit ()
 
virtual ReturnCode_t finalize ()
 
void finalizeContexts ()
 
void finalizePorts ()
 
virtual ComponentProfile * get_component_profile ()
 
virtual SDOPackage::Configuration_ptr get_configuration ()
 
virtual ExecutionContext_ptr get_context (UniqueId exec_handle)
 
virtual ExecutionContextHandle_t get_context_handle (ExecutionContext_ptr cxt)
 
virtual SDOPackage::DeviceProfile * get_device_profile ()
 
virtual SDOPackage::Monitoring_ptr get_monitoring ()
 
virtual SDOPackage::OrganizationList * get_organizations ()
 
virtual ExecutionContextListget_owned_contexts ()
 
virtual SDOPackage::OrganizationList * get_owned_organizations ()
 
virtual ExecutionContextListget_participating_contexts ()
 
virtual PortServiceListget_ports ()
 
virtual char * get_sdo_id ()
 
virtual SDOPackage::SDOService_ptr get_sdo_service (const char *id)
 
virtual char * get_sdo_type ()
 
virtual SDOPackage::ServiceProfile * get_service_profile (const char *id)
 
virtual SDOPackage::ServiceProfileList * get_service_profiles ()
 
virtual CORBA::Any * get_status (const char *name)
 
virtual SDOPackage::NVListget_status_list ()
 
const char * getCategory ()
 
const char * getDescription ()
 
ExecutionContext_ptr getExecutionContext (RTC::UniqueId ec_id)
 
double getExecutionRate (RTC::UniqueId ec_id)
 
const char * getInstanceName ()
 
std::vector< std::string > getNamingNames ()
 
RTObject_ptr getObjRef () const
 
coil::PropertiesgetProperties ()
 
const char * getTypeName ()
 
const char * getVendor ()
 
const char * getVersion ()
 
virtual ReturnCode_t initialize ()
 
virtual CORBA::Boolean is_alive (ExecutionContext_ptr exec_context)
 
bool isOwnExecutionContext (RTC::UniqueId ec_id)
 
virtual ReturnCode_t on_aborting (UniqueId exec_handle)
 
virtual ReturnCode_t on_activated (UniqueId exec_handle)
 
virtual ReturnCode_t on_deactivated (UniqueId exec_handle)
 
virtual ReturnCode_t on_error (UniqueId exec_handle)
 
virtual ReturnCode_t on_execute (UniqueId exec_handle)
 
virtual ReturnCode_t on_finalize ()
 
virtual ReturnCode_t on_initialize ()
 
virtual ReturnCode_t on_rate_changed (UniqueId exec_handle)
 
virtual ReturnCode_t on_reset (UniqueId exec_handle)
 
virtual ReturnCode_t on_shutdown (UniqueId exec_handle)
 
virtual ReturnCode_t on_startup (UniqueId exec_handle)
 
virtual ReturnCode_t on_state_update (UniqueId exec_handle)
 
bool readAll ()
 
void registerInPort (const char *name, InPortBase &inport)
 
void registerOutPort (const char *name, OutPortBase &outport)
 
void registerPort (PortBase &port)
 
void registerPort (PortService_ptr port)
 
void registerPort (CorbaPort &port)
 
void removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
 
void removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
 
void removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
 
void removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
 
bool removeInPort (InPortBase &port)
 
bool removeOutPort (OutPortBase &port)
 
bool removePort (PortService_ptr port)
 
bool removePort (CorbaPort &port)
 
bool removePort (PortBase &port)
 
void removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
 
void removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
 
void removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
 
void removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
 
void removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
 
bool removeSdoServiceConsumer (const char *id)
 
bool removeSdoServiceProvider (const char *id)
 
ReturnCode_t reset (RTC::UniqueId ec_id)
 
 RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
 
 RTObject_impl (Manager *manager)
 
ReturnCode_t setExecutionRate (RTC::UniqueId ec_id, double rate)
 
void setInstanceName (const char *instance_name)
 
void setObjRef (const RTObject_ptr rtobj)
 
void setProperties (const coil::Properties &prop)
 
void setReadAll (bool read=true, bool completion=false)
 
void setWriteAll (bool write=true, bool completion=false)
 
void updateParameters (const char *config_set)
 
bool writeAll ()
 
virtual ~RTObject_impl (void)
 

Protected Attributes

TimedAcceleration3D m_accRef
 
OutPort< TimedAcceleration3D > m_accRefOut
 
TimedBooleanSeq m_actContactStates
 
InPort< TimedBooleanSeq > m_actContactStatesIn
 
RTC::CorbaPort m_AutoBalancerServicePort
 
TimedPoint3D m_basePos
 
TimedPose3D m_basePose
 
OutPort< TimedPose3D > m_basePoseOut
 
InPort< TimedPoint3D > m_basePosIn
 
OutPort< TimedPoint3D > m_basePosOut
 
TimedOrientation3D m_baseRpy
 
InPort< TimedOrientation3D > m_baseRpyIn
 
OutPort< TimedOrientation3D > m_baseRpyOut
 
TimedDoubleSeq m_baseTform
 
OutPort< TimedDoubleSeq > m_baseTformOut
 
TimedPoint3D m_cog
 
OutPort< TimedPoint3D > m_cogOut
 
TimedBooleanSeq m_contactStates
 
OutPort< TimedBooleanSeq > m_contactStatesOut
 
TimedDoubleSeq m_controlSwingSupportTime
 
OutPort< TimedDoubleSeq > m_controlSwingSupportTimeOut
 
TimedPoint3D m_diffCP
 
InPort< TimedPoint3D > m_diffCPIn
 
TimedLong m_emergencySignal
 
InPort< TimedLong > m_emergencySignalIn
 
std::vector< TimedDoubleSeq > m_force
 
std::vector< TimedPoint3D > m_limbCOPOffset
 
std::vector< OutPort< TimedPoint3D > * > m_limbCOPOffsetOut
 
TimedDoubleSeq m_optionalData
 
InPort< TimedDoubleSeq > m_optionalDataIn
 
OutPort< TimedDoubleSeq > m_qOut
 
TimedDoubleSeq m_qRef
 
InPort< TimedDoubleSeq > m_qRefIn
 
std::vector< TimedDoubleSeq > m_ref_force
 
std::vector< InPort< TimedDoubleSeq > * > m_ref_forceIn
 
std::vector< OutPort< TimedDoubleSeq > * > m_ref_forceOut
 
TimedPoint3D m_refFootOriginExtMoment
 
InPort< TimedPoint3D > m_refFootOriginExtMomentIn
 
TimedBoolean m_refFootOriginExtMomentIsHoldValue
 
InPort< TimedBoolean > m_refFootOriginExtMomentIsHoldValueIn
 
TimedPoint3D m_sbpCogOffset
 
OutPort< TimedPoint3D > m_sbpCogOffsetOut
 
AutoBalancerService_impl m_service0
 
TimedDoubleSeq m_toeheelRatio
 
OutPort< TimedDoubleSeq > m_toeheelRatioOut
 
TimedBoolean m_walkingStates
 
OutPort< TimedBoolean > m_walkingStatesOut
 
TimedPoint3D m_zmp
 
InPort< TimedPoint3D > m_zmpIn
 
RTC::OutPort< RTC::TimedPoint3D > m_zmpOut
 
- Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners m_actionListeners
 
ConfigAdmin m_configsets
 
bool m_created
 
std::vector< ExecutionContextBase * > m_eclist
 
ExecutionContextServiceList m_ecMine
 
ExecutionContextServiceList m_ecOther
 
bool m_exiting
 
std::vector< InPortBase * > m_inports
 
RTObject_var m_objref
 
std::vector< OutPortBase * > m_outports
 
Managerm_pManager
 
CORBA::ORB_var m_pORB
 
PortAdmin m_portAdmin
 
PortConnectListeners m_portconnListeners
 
PortableServer::POA_var m_pPOA
 
ComponentProfile m_profile
 
coil::Properties m_properties
 
SDOPackage::Configuration_var m_pSdoConfig
 
SDOPackage::Configuration_implm_pSdoConfigImpl
 
bool m_readAll
 
bool m_readAllCompletion
 
SDOPackage::OrganizationList m_sdoOrganizations
 
SDOPackage::OrganizationList m_sdoOwnedOrganizations
 
SdoServiceAdmin m_sdoservice
 
SDOPackage::NVList m_sdoStatus
 
bool m_writeAll
 
bool m_writeAllCompletion
 
Logger rtclog
 

Private Types

enum  {
  BIPED, TROT, PACE, CRAWL,
  GALLOP
}
 
enum  { MODE_IDLE, MODE_ABC, MODE_SYNC_TO_IDLE, MODE_SYNC_TO_ABC }
 
enum  { MODE_NO_FORCE, MODE_REF_FORCE, MODE_REF_FORCE_WITH_FOOT, MODE_REF_FORCE_RFU_EXT_MOMENT }
 
typedef boost::shared_ptr< SimpleFullbodyInverseKinematicsSolverfikPtr
 
typedef boost::shared_ptr< rats::gait_generatorggPtr
 

Private Member Functions

bool calc_inital_support_legs (const double &y, std::vector< rats::coordinates > &initial_support_legs_coords, std::vector< rats::leg_type > &initial_support_legs, rats::coordinates &start_ref_coords)
 
void calc_static_balance_point_from_forces (hrp::Vector3 &sb_point, const hrp::Vector3 &tmpcog, const double ref_com_height)
 
hrp::Vector3 calc_vel_from_hand_error (const rats::coordinates &tmp_fix_coords)
 
void calcFixCoordsForAdjustFootstep (rats::coordinates &tmp_fix_coords)
 
hrp::Vector3 calcFootMidPosUsingZMPWeightMap ()
 
void calcReferenceJointAnglesForIK ()
 
void calculateOutputRefForces ()
 
void copyRatscoords2Footstep (OpenHRP::AutoBalancerService::Footstep &out_fs, const rats::coordinates &in_fs)
 
void fixLegToCoords (const hrp::Vector3 &fix_pos, const hrp::Matrix33 &fix_rot)
 
void fixLegToCoords2 (rats::coordinates &tmp_fix_coords)
 
void getOutputParametersForABC ()
 
void getOutputParametersForIDLE ()
 
void getOutputParametersForWalking ()
 
void getTargetParameters ()
 
std::string getUseForceModeString ()
 
void interpolateLegNamesAndZMPOffsets ()
 
bool isOptionalDataContact (const std::string &ee_name)
 
hrp::Matrix33 OrientRotationMatrix (const hrp::Matrix33 &rot, const hrp::Vector3 &axis1, const hrp::Vector3 &axis2)
 
void rotateRefForcesForFixCoords (rats::coordinates &tmp_fix_coords)
 
void solveFullbodyIK ()
 
void startABCparam (const ::OpenHRP::AutoBalancerService::StrSequence &limbs)
 
bool startWalking ()
 
void static_balance_point_proc_one (hrp::Vector3 &tmp_input_sbp, const double ref_com_height)
 
void stopABCparam ()
 
void stopWalking ()
 
void updateTargetCoordsForHandFixMode (rats::coordinates &tmp_fix_coords)
 
void updateWalkingVelocityFromHandError (rats::coordinates &tmp_fix_coords)
 
void waitABCTransition ()
 

Private Attributes

hrp::Linkadditional_force_applied_link
 
hrp::Vector3 additional_force_applied_point_offset
 
interpolatoradjust_footstep_interpolator
 
double adjust_footstep_transition_time
 
std::map< std::string, size_t > contact_states_index_map
 
enum AutoBalancer:: { ... }  control_mode
 
double d_pos_z_root
 
std::vector< hrp::Vector3default_zmp_offsets
 
std::vector< std::string > ee_vec
 
fikPtr fik
 
rats::coordinates fix_leg_coords
 
rats::coordinates fix_leg_coords2
 
enum AutoBalancer:: { ... }  gait_type
 
ggPtr gg
 
bool gg_is_walking
 
bool gg_solved
 
std::string graspless_manip_arm
 
bool graspless_manip_mode
 
hrp::Vector3 graspless_manip_p_gain
 
rats::coordinates graspless_manip_reference_trans_coords
 
hrp::Vector3 hand_fix_initial_offset
 
hrp::InvDynStateBuffer idsb
 
std::map< std::string, ABCIKparamikp
 
hrp::Vector3 input_basePos
 
hrp::Matrix33 input_baseRot
 
hrp::Vector3 input_zmp
 
std::vector< IIRFilterinvdyn_zmp_filters
 
bool is_hand_fix_initial
 
bool is_hand_fix_mode
 
bool is_legged_robot
 
bool is_stop_mode
 
std::vector< std::string > leg_names
 
interpolatorleg_names_interpolator
 
double leg_names_interpolator_ratio
 
double limb_stretch_avoidance_time_const
 
double limb_stretch_avoidance_vlimit [2]
 
int loop
 
unsigned int m_debugLevel
 
double m_dt
 
coil::Mutex m_mutex
 
hrp::BodyPtr m_robot
 
std::map< std::string, hrp::VirtualForceSensorParamm_vfs
 
hrp::Vector3 prev_imu_sensor_pos
 
hrp::Vector3 prev_imu_sensor_vel
 
hrp::Vector3 prev_ref_zmp
 
hrp::Vector3 ref_cog
 
std::vector< hrp::Vector3ref_forces
 
std::vector< hrp::Vector3ref_moments
 
hrp::Vector3 ref_zmp
 
hrp::Vector3 sbp_cog_offset
 
hrp::Vector3 sbp_offset
 
std::vector< std::string > sensor_names
 
hrp::Vector3 target_root_p
 
hrp::Matrix33 target_root_R
 
interpolatortransition_interpolator
 
double transition_interpolator_ratio
 
double transition_time
 
enum AutoBalancer:: { ... }  use_force
 
bool use_limb_stretch_avoidance
 
interpolatorzmp_offset_interpolator
 
double zmp_transition_time
 

Additional Inherited Members

- Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener ECActionListener
 
typedef ExecutionContextActionListenerType ECActionListenerType
 
typedef PostComponentActionListener PostCompActionListener
 
typedef PostComponentActionListenerType PostCompActionListenerType
 
typedef PreComponentActionListener PreCompActionListener
 
typedef PreComponentActionListenerType PreCompActionListenerType
 
- Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t onAborting (RTC::UniqueId exec_handle)
 
void onAddPort (const PortProfile &pprof)
 
void onAttachExecutionContext (UniqueId ec_id)
 
void onDetachExecutionContext (UniqueId ec_id)
 
virtual ReturnCode_t onError (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onRateChanged (RTC::UniqueId exec_handle)
 
void onRemovePort (const PortProfile &pprof)
 
virtual ReturnCode_t onReset (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onShutdown (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onStartup (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onStateUpdate (RTC::UniqueId exec_handle)
 
void postOnAborting (UniqueId ec_id, ReturnCode_t ret)
 
void postOnActivated (UniqueId ec_id, ReturnCode_t ret)
 
void postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)
 
void postOnError (UniqueId ec_id, ReturnCode_t ret)
 
void postOnExecute (UniqueId ec_id, ReturnCode_t ret)
 
void postOnFinalize (UniqueId ec_id, ReturnCode_t ret)
 
void postOnInitialize (UniqueId ec_id, ReturnCode_t ret)
 
void postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)
 
void postOnReset (UniqueId ec_id, ReturnCode_t ret)
 
void postOnShutdown (UniqueId ec_id, ReturnCode_t ret)
 
void postOnStartup (UniqueId ec_id, ReturnCode_t ret)
 
void postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)
 
void preOnAborting (UniqueId ec_id)
 
void preOnActivated (UniqueId ec_id)
 
void preOnDeactivated (UniqueId ec_id)
 
void preOnError (UniqueId ec_id)
 
void preOnExecute (UniqueId ec_id)
 
void preOnFinalize (UniqueId ec_id)
 
void preOnInitialize (UniqueId ec_id)
 
void preOnRateChanged (UniqueId ec_id)
 
void preOnReset (UniqueId ec_id)
 
void preOnShutdown (UniqueId ec_id)
 
void preOnStartup (UniqueId ec_id)
 
void preOnStateUpdate (UniqueId ec_id)
 
void shutdown ()
 

Detailed Description

Definition at line 42 of file AutoBalancer.h.

Member Typedef Documentation

Definition at line 249 of file AutoBalancer.h.

Definition at line 245 of file AutoBalancer.h.

Member Enumeration Documentation

anonymous enum
private
Enumerator
BIPED 
TROT 
PACE 
CRAWL 
GALLOP 

Definition at line 252 of file AutoBalancer.h.

anonymous enum
private
Enumerator
MODE_IDLE 
MODE_ABC 
MODE_SYNC_TO_IDLE 
MODE_SYNC_TO_ABC 

Definition at line 253 of file AutoBalancer.h.

anonymous enum
private
Enumerator
MODE_NO_FORCE 
MODE_REF_FORCE 
MODE_REF_FORCE_WITH_FOOT 
MODE_REF_FORCE_RFU_EXT_MOMENT 

Definition at line 278 of file AutoBalancer.h.

Constructor & Destructor Documentation

AutoBalancer::AutoBalancer ( RTC::Manager manager)

Definition at line 54 of file AutoBalancer.cpp.

AutoBalancer::~AutoBalancer ( )
virtual

Definition at line 89 of file AutoBalancer.cpp.

Member Function Documentation

bool AutoBalancer::adjustFootSteps ( const OpenHRP::AutoBalancerService::Footstep &  rfootstep,
const OpenHRP::AutoBalancerService::Footstep &  lfootstep 
)

Definition at line 1908 of file AutoBalancer.cpp.

bool AutoBalancer::calc_inital_support_legs ( const double &  y,
std::vector< rats::coordinates > &  initial_support_legs_coords,
std::vector< rats::leg_type > &  initial_support_legs,
rats::coordinates start_ref_coords 
)
private

Definition at line 2134 of file AutoBalancer.cpp.

void AutoBalancer::calc_static_balance_point_from_forces ( hrp::Vector3 sb_point,
const hrp::Vector3 tmpcog,
const double  ref_com_height 
)
private

Definition at line 2036 of file AutoBalancer.cpp.

hrp::Vector3 AutoBalancer::calc_vel_from_hand_error ( const rats::coordinates tmp_fix_coords)
private

Definition at line 2094 of file AutoBalancer.cpp.

void AutoBalancer::calcFixCoordsForAdjustFootstep ( rats::coordinates tmp_fix_coords)
private

Definition at line 883 of file AutoBalancer.cpp.

hrp::Vector3 AutoBalancer::calcFootMidPosUsingZMPWeightMap ( )
private

Definition at line 983 of file AutoBalancer.cpp.

void AutoBalancer::calcReferenceJointAnglesForIK ( )
private

Definition at line 1013 of file AutoBalancer.cpp.

void AutoBalancer::calculateOutputRefForces ( )
private

Definition at line 958 of file AutoBalancer.cpp.

void AutoBalancer::copyRatscoords2Footstep ( OpenHRP::AutoBalancerService::Footstep &  out_fs,
const rats::coordinates in_fs 
)
private

Definition at line 1877 of file AutoBalancer.cpp.

void AutoBalancer::distributeReferenceZMPToWrenches ( const hrp::Vector3 _ref_zmp)

Definition at line 2184 of file AutoBalancer.cpp.

bool AutoBalancer::emergencyStop ( )

Definition at line 1318 of file AutoBalancer.cpp.

void AutoBalancer::fixLegToCoords ( const hrp::Vector3 fix_pos,
const hrp::Matrix33 fix_rot 
)
private

Definition at line 1039 of file AutoBalancer.cpp.

void AutoBalancer::fixLegToCoords2 ( rats::coordinates tmp_fix_coords)
private

Definition at line 1059 of file AutoBalancer.cpp.

bool AutoBalancer::getAutoBalancerParam ( OpenHRP::AutoBalancerService::AutoBalancerParam &  i_param)

Definition at line 1796 of file AutoBalancer.cpp.

bool AutoBalancer::getFootstepParam ( OpenHRP::AutoBalancerService::FootstepParam &  i_param)

Definition at line 1887 of file AutoBalancer.cpp.

bool AutoBalancer::getGaitGeneratorParam ( OpenHRP::AutoBalancerService::GaitGeneratorParam &  i_param)

Definition at line 1556 of file AutoBalancer.cpp.

bool AutoBalancer::getGoPosFootstepsSequence ( const double &  x,
const double &  y,
const double &  th,
OpenHRP::AutoBalancerService::FootstepsSequence_out  o_footstep 
)

Definition at line 1988 of file AutoBalancer.cpp.

void AutoBalancer::getOutputParametersForABC ( )
private

Definition at line 803 of file AutoBalancer.cpp.

void AutoBalancer::getOutputParametersForIDLE ( )
private

Definition at line 833 of file AutoBalancer.cpp.

void AutoBalancer::getOutputParametersForWalking ( )
private

Definition at line 763 of file AutoBalancer.cpp.

bool AutoBalancer::getRemainingFootstepSequence ( OpenHRP::AutoBalancerService::FootstepSequence_out  o_footstep,
CORBA::Long &  o_current_fs_idx 
)

Definition at line 1972 of file AutoBalancer.cpp.

void AutoBalancer::getTargetParameters ( )
private

Definition at line 666 of file AutoBalancer.cpp.

std::string AutoBalancer::getUseForceModeString ( )
private

Definition at line 2284 of file AutoBalancer.cpp.

bool AutoBalancer::goPos ( const double &  x,
const double &  y,
const double &  th 
)

Definition at line 1247 of file AutoBalancer.cpp.

bool AutoBalancer::goStop ( )

Definition at line 1311 of file AutoBalancer.cpp.

bool AutoBalancer::goVelocity ( const double &  vx,
const double &  vy,
const double &  vth 
)

Definition at line 1275 of file AutoBalancer.cpp.

void AutoBalancer::interpolateLegNamesAndZMPOffsets ( )
private

Definition at line 860 of file AutoBalancer.cpp.

bool AutoBalancer::isOptionalDataContact ( const std::string &  ee_name)
inlineprivate

Definition at line 237 of file AutoBalancer.h.

RTC::ReturnCode_t AutoBalancer::onActivated ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 412 of file AutoBalancer.cpp.

RTC::ReturnCode_t AutoBalancer::onDeactivated ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 419 of file AutoBalancer.cpp.

RTC::ReturnCode_t AutoBalancer::onExecute ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 434 of file AutoBalancer.cpp.

RTC::ReturnCode_t AutoBalancer::onFinalize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 389 of file AutoBalancer.cpp.

RTC::ReturnCode_t AutoBalancer::onInitialize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 94 of file AutoBalancer.cpp.

hrp::Matrix33 AutoBalancer::OrientRotationMatrix ( const hrp::Matrix33 rot,
const hrp::Vector3 axis1,
const hrp::Vector3 axis2 
)
private

Definition at line 1028 of file AutoBalancer.cpp.

bool AutoBalancer::releaseEmergencyStop ( )

Definition at line 1327 of file AutoBalancer.cpp.

void AutoBalancer::rotateRefForcesForFixCoords ( rats::coordinates tmp_fix_coords)
private

Definition at line 901 of file AutoBalancer.cpp.

bool AutoBalancer::setAutoBalancerParam ( const OpenHRP::AutoBalancerService::AutoBalancerParam &  i_param)

Definition at line 1647 of file AutoBalancer.cpp.

bool AutoBalancer::setFootSteps ( const OpenHRP::AutoBalancerService::FootstepSequence &  fs,
CORBA::Long  overwrite_fs_idx 
)
bool AutoBalancer::setFootSteps ( const OpenHRP::AutoBalancerService::FootstepsSequence &  fss,
CORBA::Long  overwrite_fs_idx 
)

Definition at line 1336 of file AutoBalancer.cpp.

bool AutoBalancer::setFootStepsWithParam ( const OpenHRP::AutoBalancerService::FootstepSequence &  fs,
const OpenHRP::AutoBalancerService::StepParamSequence &  sps,
CORBA::Long  overwrite_fs_idx 
)
bool AutoBalancer::setFootStepsWithParam ( const OpenHRP::AutoBalancerService::FootstepsSequence &  fss,
const OpenHRP::AutoBalancerService::StepParamsSequence &  spss,
CORBA::Long  overwrite_fs_idx 
)

Definition at line 1354 of file AutoBalancer.cpp.

bool AutoBalancer::setGaitGeneratorParam ( const OpenHRP::AutoBalancerService::GaitGeneratorParam &  i_param)

Definition at line 1468 of file AutoBalancer.cpp.

void AutoBalancer::solveFullbodyIK ( )
private

Definition at line 1078 of file AutoBalancer.cpp.

void AutoBalancer::startABCparam ( const ::OpenHRP::AutoBalancerService::StrSequence &  limbs)
private

Definition at line 1138 of file AutoBalancer.cpp.

bool AutoBalancer::startAutoBalancer ( const ::OpenHRP::AutoBalancerService::StrSequence &  limbs)

Definition at line 1219 of file AutoBalancer.cpp.

bool AutoBalancer::startWalking ( )
private

Definition at line 1173 of file AutoBalancer.cpp.

void AutoBalancer::static_balance_point_proc_one ( hrp::Vector3 tmp_input_sbp,
const double  ref_com_height 
)
private

Definition at line 2023 of file AutoBalancer.cpp.

void AutoBalancer::stopABCparam ( )
private

Definition at line 1161 of file AutoBalancer.cpp.

bool AutoBalancer::stopAutoBalancer ( )

Definition at line 1231 of file AutoBalancer.cpp.

void AutoBalancer::stopWalking ( )
private

Definition at line 1207 of file AutoBalancer.cpp.

void AutoBalancer::updateTargetCoordsForHandFixMode ( rats::coordinates tmp_fix_coords)
private

Definition at line 922 of file AutoBalancer.cpp.

void AutoBalancer::updateWalkingVelocityFromHandError ( rats::coordinates tmp_fix_coords)
private

Definition at line 1000 of file AutoBalancer.cpp.

void AutoBalancer::waitABCTransition ( )
private

Definition at line 1242 of file AutoBalancer.cpp.

void AutoBalancer::waitFootSteps ( )

Definition at line 1450 of file AutoBalancer.cpp.

void AutoBalancer::waitFootStepsEarly ( const double  tm)

Definition at line 1459 of file AutoBalancer.cpp.

Member Data Documentation

hrp::Link* AutoBalancer::additional_force_applied_link
private

Definition at line 293 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::additional_force_applied_point_offset
private

Definition at line 294 of file AutoBalancer.h.

interpolator* AutoBalancer::adjust_footstep_interpolator
private

Definition at line 271 of file AutoBalancer.h.

double AutoBalancer::adjust_footstep_transition_time
private

Definition at line 268 of file AutoBalancer.h.

std::map<std::string, size_t> AutoBalancer::contact_states_index_map
private

Definition at line 255 of file AutoBalancer.h.

enum { ... } AutoBalancer::control_mode
double AutoBalancer::d_pos_z_root
private

Definition at line 265 of file AutoBalancer.h.

std::vector<hrp::Vector3> AutoBalancer::default_zmp_offsets
private

Definition at line 261 of file AutoBalancer.h.

std::vector<std::string> AutoBalancer::ee_vec
private

Definition at line 257 of file AutoBalancer.h.

fikPtr AutoBalancer::fik
private

Definition at line 250 of file AutoBalancer.h.

rats::coordinates AutoBalancer::fix_leg_coords
private

Definition at line 260 of file AutoBalancer.h.

rats::coordinates AutoBalancer::fix_leg_coords2
private

Definition at line 260 of file AutoBalancer.h.

enum { ... } AutoBalancer::gait_type
ggPtr AutoBalancer::gg
private

Definition at line 246 of file AutoBalancer.h.

bool AutoBalancer::gg_is_walking
private

Definition at line 247 of file AutoBalancer.h.

bool AutoBalancer::gg_solved
private

Definition at line 247 of file AutoBalancer.h.

std::string AutoBalancer::graspless_manip_arm
private

Definition at line 285 of file AutoBalancer.h.

bool AutoBalancer::graspless_manip_mode
private

Definition at line 284 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::graspless_manip_p_gain
private

Definition at line 286 of file AutoBalancer.h.

rats::coordinates AutoBalancer::graspless_manip_reference_trans_coords
private

Definition at line 287 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::hand_fix_initial_offset
private

Definition at line 251 of file AutoBalancer.h.

hrp::InvDynStateBuffer AutoBalancer::idsb
private

Definition at line 289 of file AutoBalancer.h.

std::map<std::string, ABCIKparam> AutoBalancer::ikp
private

Definition at line 254 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::input_basePos
private

Definition at line 273 of file AutoBalancer.h.

hrp::Matrix33 AutoBalancer::input_baseRot
private

Definition at line 274 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::input_zmp
private

Definition at line 273 of file AutoBalancer.h.

std::vector<IIRFilter> AutoBalancer::invdyn_zmp_filters
private

Definition at line 290 of file AutoBalancer.h.

bool AutoBalancer::is_hand_fix_initial
private

Definition at line 282 of file AutoBalancer.h.

bool AutoBalancer::is_hand_fix_mode
private

Definition at line 282 of file AutoBalancer.h.

bool AutoBalancer::is_legged_robot
private

Definition at line 282 of file AutoBalancer.h.

bool AutoBalancer::is_stop_mode
private

Definition at line 282 of file AutoBalancer.h.

std::vector<std::string> AutoBalancer::leg_names
private

Definition at line 257 of file AutoBalancer.h.

interpolator* AutoBalancer::leg_names_interpolator
private

Definition at line 272 of file AutoBalancer.h.

double AutoBalancer::leg_names_interpolator_ratio
private

Definition at line 268 of file AutoBalancer.h.

double AutoBalancer::limb_stretch_avoidance_time_const
private

Definition at line 265 of file AutoBalancer.h.

double AutoBalancer::limb_stretch_avoidance_vlimit[2]
private

Definition at line 265 of file AutoBalancer.h.

int AutoBalancer::loop
private

Definition at line 283 of file AutoBalancer.h.

TimedAcceleration3D AutoBalancer::m_accRef
protected

Definition at line 164 of file AutoBalancer.h.

OutPort<TimedAcceleration3D> AutoBalancer::m_accRefOut
protected

Definition at line 165 of file AutoBalancer.h.

TimedBooleanSeq AutoBalancer::m_actContactStates
protected

Definition at line 143 of file AutoBalancer.h.

InPort<TimedBooleanSeq> AutoBalancer::m_actContactStatesIn
protected

Definition at line 144 of file AutoBalancer.h.

RTC::CorbaPort AutoBalancer::m_AutoBalancerServicePort
protected

Definition at line 187 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_basePos
protected

Definition at line 129 of file AutoBalancer.h.

TimedPose3D AutoBalancer::m_basePose
protected

Definition at line 162 of file AutoBalancer.h.

OutPort<TimedPose3D> AutoBalancer::m_basePoseOut
protected

Definition at line 163 of file AutoBalancer.h.

InPort<TimedPoint3D> AutoBalancer::m_basePosIn
protected

Definition at line 130 of file AutoBalancer.h.

OutPort<TimedPoint3D> AutoBalancer::m_basePosOut
protected

Definition at line 158 of file AutoBalancer.h.

TimedOrientation3D AutoBalancer::m_baseRpy
protected

Definition at line 131 of file AutoBalancer.h.

InPort<TimedOrientation3D> AutoBalancer::m_baseRpyIn
protected

Definition at line 132 of file AutoBalancer.h.

OutPort<TimedOrientation3D> AutoBalancer::m_baseRpyOut
protected

Definition at line 159 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_baseTform
protected

Definition at line 160 of file AutoBalancer.h.

OutPort<TimedDoubleSeq> AutoBalancer::m_baseTformOut
protected

Definition at line 161 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_cog
protected

Definition at line 150 of file AutoBalancer.h.

OutPort<TimedPoint3D> AutoBalancer::m_cogOut
protected

Definition at line 181 of file AutoBalancer.h.

TimedBooleanSeq AutoBalancer::m_contactStates
protected

Definition at line 166 of file AutoBalancer.h.

OutPort<TimedBooleanSeq> AutoBalancer::m_contactStatesOut
protected

Definition at line 167 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_controlSwingSupportTime
protected

Definition at line 170 of file AutoBalancer.h.

OutPort<TimedDoubleSeq> AutoBalancer::m_controlSwingSupportTimeOut
protected

Definition at line 171 of file AutoBalancer.h.

unsigned int AutoBalancer::m_debugLevel
private

Definition at line 281 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_diffCP
protected

Definition at line 141 of file AutoBalancer.h.

InPort<TimedPoint3D> AutoBalancer::m_diffCPIn
protected

Definition at line 142 of file AutoBalancer.h.

double AutoBalancer::m_dt
private

Definition at line 262 of file AutoBalancer.h.

TimedLong AutoBalancer::m_emergencySignal
protected

Definition at line 139 of file AutoBalancer.h.

InPort<TimedLong> AutoBalancer::m_emergencySignalIn
protected

Definition at line 140 of file AutoBalancer.h.

std::vector<TimedDoubleSeq> AutoBalancer::m_force
protected

Definition at line 176 of file AutoBalancer.h.

std::vector<TimedPoint3D> AutoBalancer::m_limbCOPOffset
protected

Definition at line 178 of file AutoBalancer.h.

std::vector<OutPort<TimedPoint3D> *> AutoBalancer::m_limbCOPOffsetOut
protected

Definition at line 179 of file AutoBalancer.h.

coil::Mutex AutoBalancer::m_mutex
private

Definition at line 264 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_optionalData
protected

Definition at line 135 of file AutoBalancer.h.

InPort<TimedDoubleSeq> AutoBalancer::m_optionalDataIn
protected

Definition at line 136 of file AutoBalancer.h.

OutPort<TimedDoubleSeq> AutoBalancer::m_qOut
protected

Definition at line 156 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_qRef
protected

Definition at line 127 of file AutoBalancer.h.

InPort<TimedDoubleSeq> AutoBalancer::m_qRefIn
protected

Definition at line 128 of file AutoBalancer.h.

std::vector<TimedDoubleSeq> AutoBalancer::m_ref_force
protected

Definition at line 137 of file AutoBalancer.h.

std::vector<InPort<TimedDoubleSeq> *> AutoBalancer::m_ref_forceIn
protected

Definition at line 138 of file AutoBalancer.h.

std::vector<OutPort<TimedDoubleSeq> *> AutoBalancer::m_ref_forceOut
protected

Definition at line 177 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_refFootOriginExtMoment
protected

Definition at line 145 of file AutoBalancer.h.

InPort<TimedPoint3D> AutoBalancer::m_refFootOriginExtMomentIn
protected

Definition at line 146 of file AutoBalancer.h.

TimedBoolean AutoBalancer::m_refFootOriginExtMomentIsHoldValue
protected

Definition at line 147 of file AutoBalancer.h.

InPort<TimedBoolean> AutoBalancer::m_refFootOriginExtMomentIsHoldValueIn
protected

Definition at line 148 of file AutoBalancer.h.

hrp::BodyPtr AutoBalancer::m_robot
private

Definition at line 263 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_sbpCogOffset
protected

Definition at line 174 of file AutoBalancer.h.

OutPort<TimedPoint3D> AutoBalancer::m_sbpCogOffsetOut
protected

Definition at line 175 of file AutoBalancer.h.

AutoBalancerService_impl AutoBalancer::m_service0
protected

Definition at line 193 of file AutoBalancer.h.

TimedDoubleSeq AutoBalancer::m_toeheelRatio
protected

Definition at line 168 of file AutoBalancer.h.

OutPort<TimedDoubleSeq> AutoBalancer::m_toeheelRatioOut
protected

Definition at line 169 of file AutoBalancer.h.

std::map<std::string, hrp::VirtualForceSensorParam> AutoBalancer::m_vfs
private

Definition at line 256 of file AutoBalancer.h.

TimedBoolean AutoBalancer::m_walkingStates
protected

Definition at line 172 of file AutoBalancer.h.

OutPort<TimedBoolean> AutoBalancer::m_walkingStatesOut
protected

Definition at line 173 of file AutoBalancer.h.

TimedPoint3D AutoBalancer::m_zmp
protected

Definition at line 133 of file AutoBalancer.h.

InPort<TimedPoint3D> AutoBalancer::m_zmpIn
protected

Definition at line 134 of file AutoBalancer.h.

RTC::OutPort<RTC::TimedPoint3D> AutoBalancer::m_zmpOut
protected

Definition at line 157 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::prev_imu_sensor_pos
private

Definition at line 251 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::prev_imu_sensor_vel
private

Definition at line 251 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::prev_ref_zmp
private

Definition at line 251 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::ref_cog
private

Definition at line 251 of file AutoBalancer.h.

std::vector<hrp::Vector3> AutoBalancer::ref_forces
private

Definition at line 279 of file AutoBalancer.h.

std::vector<hrp::Vector3> AutoBalancer::ref_moments
private

Definition at line 279 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::ref_zmp
private

Definition at line 251 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::sbp_cog_offset
private

Definition at line 277 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::sbp_offset
private

Definition at line 277 of file AutoBalancer.h.

std::vector<std::string> AutoBalancer::sensor_names
private

Definition at line 257 of file AutoBalancer.h.

hrp::Vector3 AutoBalancer::target_root_p
private

Definition at line 258 of file AutoBalancer.h.

hrp::Matrix33 AutoBalancer::target_root_R
private

Definition at line 259 of file AutoBalancer.h.

interpolator* AutoBalancer::transition_interpolator
private

Definition at line 270 of file AutoBalancer.h.

double AutoBalancer::transition_interpolator_ratio
private

Definition at line 268 of file AutoBalancer.h.

double AutoBalancer::transition_time
private

Definition at line 268 of file AutoBalancer.h.

enum { ... } AutoBalancer::use_force
bool AutoBalancer::use_limb_stretch_avoidance
private

Definition at line 266 of file AutoBalancer.h.

interpolator* AutoBalancer::zmp_offset_interpolator
private

Definition at line 269 of file AutoBalancer.h.

double AutoBalancer::zmp_transition_time
private

Definition at line 268 of file AutoBalancer.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Tue Feb 9 2021 03:39:37