rats::leg_coords_generator Class Reference

#include <GaitGenerator.h>

Public Member Functions
void	calc_swing_leg_src_steps (std::vector< step_node > &ret_swing_leg_src_steps, const std::vector< std::vector< step_node > > &fnsl, const size_t _footstep_index)
void	calc_swing_support_params_from_footstep_nodes_list (const std::vector< std::vector< step_node > > &fnsl)
void	clear_interpolators ()
std::vector< leg_type >	get_current_support_states () const
double	get_current_swing_time (const size_t idx) const
double	get_current_toe_heel_ratio (const bool _use_toe_heel_transition) const
hrp::Vector3	get_cycloid_delay_kick_point_offset () const
orbit_type	get_default_orbit_type () const
double	get_default_step_height () const
double	get_foot_dif_rot_angle () const
size_t	get_footstep_index () const
double	get_heel_angle () const
double	get_heel_pos_offset_x () const
size_t	get_lcg_count () const
hrp::Vector3	get_stair_trajectory_way_point_offset () const
const std::vector< step_node > &	get_support_leg_steps () const
const std::vector< step_node > &	get_support_leg_steps_idx (const size_t idx) const
const std::vector< leg_type > &	get_support_leg_types () const
const std::vector< step_node > &	get_swing_leg_dst_steps () const
const std::vector< step_node > &	get_swing_leg_dst_steps_idx (const size_t idx) const
const std::vector< step_node > &	get_swing_leg_src_steps () const
const std::vector< step_node > &	get_swing_leg_steps () const
const std::vector< leg_type > &	get_swing_leg_types () const
void	get_swing_support_mid_coords (coordinates &ret) const
double	get_swing_trajectory_delay_time_offset () const
double	get_swing_trajectory_final_distance_weight () const
double	get_swing_trajectory_time_offset_xy2z () const
double	get_toe_angle () const
void	get_toe_heel_phase_ratio (std::vector< double > &ratio) const
double	get_toe_pos_offset_x () const
bool	get_use_toe_heel_auto_set () const
bool	get_use_toe_joint () const
bool	is_same_footstep_nodes (const std::vector< step_node > &fns_1, const std::vector< step_node > &fns_2) const
	leg_coords_generator (const double _dt)
void	reset (const size_t _one_step_count, const size_t _next_one_step_count, const std::vector< step_node > &_swing_leg_dst_steps, const std::vector< step_node > &_swing_leg_src_steps, const std::vector< step_node > &_support_leg_steps, const double default_double_support_ratio_before, const double default_double_support_ratio_after)
void	set_cycloid_delay_kick_point_offset (const hrp::Vector3 _offset)
void	set_default_orbit_type (const orbit_type _tmp)
void	set_default_step_height (const double _tmp)
void	set_default_top_ratio (const double _tmp)
void	set_heel_angle (const double _angle)
void	set_heel_pos_offset_x (const double _offx)
void	set_stair_trajectory_way_point_offset (const hrp::Vector3 _offset)
void	set_swing_support_steps_list (const std::vector< std::vector< step_node > > &fnsl)
void	set_swing_trajectory_delay_time_offset (const double _time_offset)
void	set_swing_trajectory_final_distance_weight (const double _final_distance_weight)
void	set_swing_trajectory_time_offset_xy2z (const double _tmp)
void	set_toe_angle (const double _angle)
bool	set_toe_heel_phase_ratio (const std::vector< double > &ratio)
void	set_toe_pos_offset_x (const double _offx)
void	set_use_toe_heel_auto_set (const bool ut)
void	set_use_toe_joint (const bool ut)
void	update_leg_steps (const std::vector< std::vector< step_node > > &fnsl, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const toe_heel_type_checker &thtc)
	~leg_coords_generator ()

Private Member Functions
void	calc_current_swing_foot_rot (std::map< leg_type, hrp::Vector3 > &tmp_swing_foot_rot, const double _default_double_support_ratio_before, const double _default_double_support_ratio_after)
void	calc_current_swing_leg_steps (std::vector< step_node > &rets, const double step_height, const double _current_toe_angle, const double _current_heel_angle, const double _default_double_support_ratio_before, const double _default_double_support_ratio_after)
double	calc_interpolated_toe_heel_angle (const toe_heel_phase start_phase, const toe_heel_phase goal_phase, const double start, const double goal)
void	calc_ratio_from_double_support_ratio (const double default_double_support_ratio_before, const double default_double_support_ratio_after)
void	calc_swing_support_mid_coords ()
void	cross_delay_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, leg_type lr)
void	cycloid_delay_kick_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height)
void	cycloid_delay_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, const size_t swing_trajectory_generator_idx)
void	cycloid_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height) const
void	modif_foot_coords_for_toe_heel_phase (coordinates &org_coords, const double _current_toe_angle, const double _current_heel_angle)
void	rectangle_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, const size_t swing_trajectory_generator_idx)
void	stair_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height)

Private Attributes
cycloid_delay_kick_hoffarbib_trajectory_generator	cdktg
std::vector< cycloid_delay_hoffarbib_trajectory_generator >	cdtg
cross_delay_hoffarbib_trajectory_generator	crdtg
toe_heel_type	current_dst_toe_heel_type
double	current_heel_angle
toe_heel_type	current_src_toe_heel_type
double	current_step_height
std::vector< double >	current_swing_time
double	current_toe_angle
orbit_type	default_orbit_type
double	default_step_height
double	default_top_ratio
double	dt
double	final_distance_weight
double	foot_dif_rot_angle
interpolator *	foot_midcoords_interpolator
size_t	footstep_index
double	heel_angle
double	heel_pos_offset_x
bool	is_swing_phase
size_t	lcg_count
size_t	next_one_step_count
size_t	one_step_count
std::vector< rectangle_delay_hoffarbib_trajectory_generator >	rdtg
stair_delay_hoffarbib_trajectory_generator	sdtg
std::vector< step_node >	support_leg_steps
std::vector< std::vector< step_node > >	support_leg_steps_list
std::vector< leg_type >	support_leg_types
std::map< leg_type, interpolator * >	swing_foot_rot_interpolator
std::vector< step_node >	swing_leg_dst_steps
std::vector< std::vector< step_node > >	swing_leg_dst_steps_list
std::vector< step_node >	swing_leg_src_steps
std::vector< step_node >	swing_leg_steps
std::vector< leg_type >	swing_leg_types
double	swing_ratio
coordinates	swing_support_midcoords
toe_heel_phase_counter	thp
double	time_offset
double	time_offset_xy2z
double	toe_angle
double	toe_heel_dif_angle
interpolator *	toe_heel_interpolator
double	toe_pos_offset_x
bool	use_toe_heel_auto_set
bool	use_toe_joint

Detailed Description

Definition at line 686 of file GaitGenerator.h.

Constructor & Destructor Documentation

rats::leg_coords_generator::leg_coords_generator ( const double  _dt )

inline

Definition at line 744 of file GaitGenerator.h.

rats::leg_coords_generator::~leg_coords_generator ( )

inline

Definition at line 776 of file GaitGenerator.h.

Member Function Documentation

void rats::leg_coords_generator::calc_current_swing_foot_rot ( std::map< leg_type, hrp::Vector3 > &  tmp_swing_foot_rot, const double  _default_double_support_ratio_before, const double  _default_double_support_ratio_after  )

private

Definition at line 224 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_current_swing_leg_steps ( std::vector< step_node > &  rets, const double  step_height, const double  _current_toe_angle, const double  _current_heel_angle, const double  _default_double_support_ratio_before, const double  _default_double_support_ratio_after  )

private

Definition at line 269 of file GaitGenerator.cpp.

double rats::leg_coords_generator::calc_interpolated_toe_heel_angle ( const toe_heel_phase  start_phase, const toe_heel_phase  goal_phase, const double  start, const double  goal  )

private

Definition at line 354 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_ratio_from_double_support_ratio ( const double  default_double_support_ratio_before, const double  default_double_support_ratio_after  )

private

Definition at line 317 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_swing_leg_src_steps ( std::vector< step_node > &  ret_swing_leg_src_steps, const std::vector< std::vector< step_node > > &  fnsl, const size_t  _footstep_index  )

inline

Definition at line 922 of file GaitGenerator.h.

void rats::leg_coords_generator::calc_swing_support_mid_coords ( )

private

Definition at line 481 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_swing_support_params_from_footstep_nodes_list ( const std::vector< std::vector< step_node > > &  fnsl )

inline

Definition at line 942 of file GaitGenerator.h.

void rats::leg_coords_generator::clear_interpolators ( )

inline

Definition at line 906 of file GaitGenerator.h.

void rats::leg_coords_generator::cross_delay_midcoords ( coordinates &  ret, const coordinates &  start, const coordinates &  goal, const double  height, leg_type  lr  )

private

Definition at line 457 of file GaitGenerator.cpp.

void rats::leg_coords_generator::cycloid_delay_kick_midcoords ( coordinates &  ret, const coordinates &  start, const coordinates &  goal, const double  height  )

private

Definition at line 450 of file GaitGenerator.cpp.

void rats::leg_coords_generator::cycloid_delay_midcoords ( coordinates &  ret, const coordinates &  start, const coordinates &  goal, const double  height, const size_t  swing_trajectory_generator_idx  )

private

Definition at line 444 of file GaitGenerator.cpp.

void rats::leg_coords_generator::cycloid_midcoords ( coordinates &  ret, const coordinates &  start, const coordinates &  goal, const double  height  ) const

private

Definition at line 426 of file GaitGenerator.cpp.

std::vector<leg_type> rats::leg_coords_generator::get_current_support_states ( ) const

inline

Definition at line 976 of file GaitGenerator.h.

double rats::leg_coords_generator::get_current_swing_time ( const size_t  idx ) const

inline

Definition at line 962 of file GaitGenerator.h.

double rats::leg_coords_generator::get_current_toe_heel_ratio ( const bool  _use_toe_heel_transition ) const

inline

Definition at line 1001 of file GaitGenerator.h.

hrp::Vector3 rats::leg_coords_generator::get_cycloid_delay_kick_point_offset ( ) const

inline

Definition at line 992 of file GaitGenerator.h.

orbit_type rats::leg_coords_generator::get_default_orbit_type ( ) const

inline

Definition at line 987 of file GaitGenerator.h.

double rats::leg_coords_generator::get_default_step_height ( ) const

inline

Definition at line 971 of file GaitGenerator.h.

double rats::leg_coords_generator::get_foot_dif_rot_angle ( ) const

inline

Definition at line 997 of file GaitGenerator.h.

size_t rats::leg_coords_generator::get_footstep_index ( ) const

inline

Definition at line 960 of file GaitGenerator.h.

double rats::leg_coords_generator::get_heel_angle ( ) const

inline

Definition at line 996 of file GaitGenerator.h.

double rats::leg_coords_generator::get_heel_pos_offset_x ( ) const

inline

Definition at line 994 of file GaitGenerator.h.

size_t rats::leg_coords_generator::get_lcg_count ( ) const

inline

Definition at line 961 of file GaitGenerator.h.

hrp::Vector3 rats::leg_coords_generator::get_stair_trajectory_way_point_offset ( ) const

inline

Definition at line 991 of file GaitGenerator.h.

const std::vector<step_node>& rats::leg_coords_generator::get_support_leg_steps ( ) const

inline

Definition at line 964 of file GaitGenerator.h.

const std::vector<step_node>& rats::leg_coords_generator::get_support_leg_steps_idx ( const size_t  idx ) const

inline

Definition at line 968 of file GaitGenerator.h.

const std::vector<leg_type>& rats::leg_coords_generator::get_support_leg_types ( ) const

inline

Definition at line 969 of file GaitGenerator.h.

const std::vector<step_node>& rats::leg_coords_generator::get_swing_leg_dst_steps ( ) const

inline

Definition at line 966 of file GaitGenerator.h.

const std::vector<step_node>& rats::leg_coords_generator::get_swing_leg_dst_steps_idx ( const size_t  idx ) const

inline

Definition at line 967 of file GaitGenerator.h.

const std::vector<step_node>& rats::leg_coords_generator::get_swing_leg_src_steps ( ) const

inline

Definition at line 965 of file GaitGenerator.h.

const std::vector<step_node>& rats::leg_coords_generator::get_swing_leg_steps ( ) const

inline

Definition at line 963 of file GaitGenerator.h.

const std::vector<leg_type>& rats::leg_coords_generator::get_swing_leg_types ( ) const

inline

Definition at line 970 of file GaitGenerator.h.

void rats::leg_coords_generator::get_swing_support_mid_coords ( coordinates &  ret ) const

inline

Definition at line 972 of file GaitGenerator.h.

double rats::leg_coords_generator::get_swing_trajectory_delay_time_offset ( ) const

inline

Definition at line 988 of file GaitGenerator.h.

double rats::leg_coords_generator::get_swing_trajectory_final_distance_weight ( ) const

inline

Definition at line 989 of file GaitGenerator.h.

double rats::leg_coords_generator::get_swing_trajectory_time_offset_xy2z ( ) const

inline

Definition at line 990 of file GaitGenerator.h.

double rats::leg_coords_generator::get_toe_angle ( ) const

inline

Definition at line 995 of file GaitGenerator.h.

void rats::leg_coords_generator::get_toe_heel_phase_ratio ( std::vector< double > &  ratio ) const

inline

Definition at line 1000 of file GaitGenerator.h.

double rats::leg_coords_generator::get_toe_pos_offset_x ( ) const

inline

Definition at line 993 of file GaitGenerator.h.

bool rats::leg_coords_generator::get_use_toe_heel_auto_set ( ) const

inline

Definition at line 999 of file GaitGenerator.h.

bool rats::leg_coords_generator::get_use_toe_joint ( ) const

inline

Definition at line 998 of file GaitGenerator.h.

bool rats::leg_coords_generator::is_same_footstep_nodes	(	const std::vector< step_node > &	fns_1,
		const std::vector< step_node > &	fns_2
	)		const

Definition at line 464 of file GaitGenerator.cpp.

void rats::leg_coords_generator::modif_foot_coords_for_toe_heel_phase ( coordinates &  org_coords, const double  _current_toe_angle, const double  _current_heel_angle  )

private

Definition at line 373 of file GaitGenerator.cpp.

void rats::leg_coords_generator::rectangle_midcoords ( coordinates &  ret, const coordinates &  start, const coordinates &  goal, const double  height, const size_t  swing_trajectory_generator_idx  )

private

Definition at line 432 of file GaitGenerator.cpp.

void rats::leg_coords_generator::reset ( const size_t  _one_step_count, const size_t  _next_one_step_count, const std::vector< step_node > &  _swing_leg_dst_steps, const std::vector< step_node > &  _swing_leg_src_steps, const std::vector< step_node > &  _support_leg_steps, const double  default_double_support_ratio_before, const double  default_double_support_ratio_after  )

inline

Definition at line 854 of file GaitGenerator.h.

void rats::leg_coords_generator::set_cycloid_delay_kick_point_offset ( const hrp::Vector3  _offset )

inline

Definition at line 818 of file GaitGenerator.h.

void rats::leg_coords_generator::set_default_orbit_type ( const orbit_type  _tmp )

inline

Definition at line 795 of file GaitGenerator.h.

void rats::leg_coords_generator::set_default_step_height ( const double  _tmp )

inline

Definition at line 793 of file GaitGenerator.h.

void rats::leg_coords_generator::set_default_top_ratio ( const double  _tmp )

inline

Definition at line 794 of file GaitGenerator.h.

void rats::leg_coords_generator::set_heel_angle ( const double  _angle )

inline

Definition at line 822 of file GaitGenerator.h.

void rats::leg_coords_generator::set_heel_pos_offset_x ( const double  _offx )

inline

Definition at line 820 of file GaitGenerator.h.

void rats::leg_coords_generator::set_stair_trajectory_way_point_offset ( const hrp::Vector3  _offset )

inline

Definition at line 817 of file GaitGenerator.h.

void rats::leg_coords_generator::set_swing_support_steps_list ( const std::vector< std::vector< step_node > > &  fnsl )

inline

Definition at line 825 of file GaitGenerator.h.

void rats::leg_coords_generator::set_swing_trajectory_delay_time_offset ( const double  _time_offset )

inline

Definition at line 796 of file GaitGenerator.h.

void rats::leg_coords_generator::set_swing_trajectory_final_distance_weight ( const double  _final_distance_weight )

inline

Definition at line 803 of file GaitGenerator.h.

void rats::leg_coords_generator::set_swing_trajectory_time_offset_xy2z ( const double  _tmp )

inline

Definition at line 810 of file GaitGenerator.h.

void rats::leg_coords_generator::set_toe_angle ( const double  _angle )

inline

Definition at line 821 of file GaitGenerator.h.

bool rats::leg_coords_generator::set_toe_heel_phase_ratio ( const std::vector< double > &  ratio )

inline

Definition at line 853 of file GaitGenerator.h.

void rats::leg_coords_generator::set_toe_pos_offset_x ( const double  _offx )

inline

Definition at line 819 of file GaitGenerator.h.

void rats::leg_coords_generator::set_use_toe_heel_auto_set ( const bool  ut )

inline

Definition at line 824 of file GaitGenerator.h.

void rats::leg_coords_generator::set_use_toe_joint ( const bool  ut )

inline

Definition at line 823 of file GaitGenerator.h.

void rats::leg_coords_generator::stair_midcoords ( coordinates &  ret, const coordinates &  start, const coordinates &  goal, const double  height  )

private

Definition at line 438 of file GaitGenerator.cpp.

void rats::leg_coords_generator::update_leg_steps	(	const std::vector< std::vector< step_node > > &	fnsl,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after,
		const toe_heel_type_checker &	thtc
	)

Definition at line 541 of file GaitGenerator.cpp.

Member Data Documentation

cycloid_delay_kick_hoffarbib_trajectory_generator rats::leg_coords_generator::cdktg

private

Definition at line 711 of file GaitGenerator.h.

std::vector<cycloid_delay_hoffarbib_trajectory_generator> rats::leg_coords_generator::cdtg

private

Definition at line 710 of file GaitGenerator.h.

cross_delay_hoffarbib_trajectory_generator rats::leg_coords_generator::crdtg

private

Definition at line 712 of file GaitGenerator.h.

toe_heel_type rats::leg_coords_generator::current_dst_toe_heel_type

private

Definition at line 722 of file GaitGenerator.h.

double rats::leg_coords_generator::current_heel_angle

private

Definition at line 696 of file GaitGenerator.h.

toe_heel_type rats::leg_coords_generator::current_src_toe_heel_type

private

Definition at line 722 of file GaitGenerator.h.

double rats::leg_coords_generator::current_step_height

private

Definition at line 696 of file GaitGenerator.h.

std::vector<double> rats::leg_coords_generator::current_swing_time

private

Definition at line 698 of file GaitGenerator.h.

double rats::leg_coords_generator::current_toe_angle

private

Definition at line 696 of file GaitGenerator.h.

orbit_type rats::leg_coords_generator::default_orbit_type

private

Definition at line 705 of file GaitGenerator.h.

double rats::leg_coords_generator::default_step_height

private

Definition at line 696 of file GaitGenerator.h.

double rats::leg_coords_generator::default_top_ratio

private

Definition at line 696 of file GaitGenerator.h.

double rats::leg_coords_generator::dt

private

Definition at line 696 of file GaitGenerator.h.

double rats::leg_coords_generator::final_distance_weight

private

Definition at line 697 of file GaitGenerator.h.

double rats::leg_coords_generator::foot_dif_rot_angle

private

Definition at line 720 of file GaitGenerator.h.

interpolator* rats::leg_coords_generator::foot_midcoords_interpolator

private

Definition at line 714 of file GaitGenerator.h.

size_t rats::leg_coords_generator::footstep_index

private

Definition at line 700 of file GaitGenerator.h.

double rats::leg_coords_generator::heel_angle

private

Definition at line 720 of file GaitGenerator.h.

double rats::leg_coords_generator::heel_pos_offset_x

private

Definition at line 720 of file GaitGenerator.h.

bool rats::leg_coords_generator::is_swing_phase

private

Definition at line 706 of file GaitGenerator.h.

size_t rats::leg_coords_generator::lcg_count

private

Definition at line 702 of file GaitGenerator.h.

size_t rats::leg_coords_generator::next_one_step_count

private

Definition at line 702 of file GaitGenerator.h.

size_t rats::leg_coords_generator::one_step_count

private

Definition at line 702 of file GaitGenerator.h.

std::vector<rectangle_delay_hoffarbib_trajectory_generator> rats::leg_coords_generator::rdtg

private

Definition at line 708 of file GaitGenerator.h.

stair_delay_hoffarbib_trajectory_generator rats::leg_coords_generator::sdtg

private

Definition at line 709 of file GaitGenerator.h.

std::vector<step_node> rats::leg_coords_generator::support_leg_steps

private

Definition at line 693 of file GaitGenerator.h.

std::vector< std::vector<step_node> > rats::leg_coords_generator::support_leg_steps_list

private

Definition at line 691 of file GaitGenerator.h.

std::vector<leg_type> rats::leg_coords_generator::support_leg_types

private

Definition at line 704 of file GaitGenerator.h.

std::map<leg_type, interpolator*> rats::leg_coords_generator::swing_foot_rot_interpolator

private

Definition at line 717 of file GaitGenerator.h.

std::vector<step_node> rats::leg_coords_generator::swing_leg_dst_steps

private

Definition at line 695 of file GaitGenerator.h.

std::vector< std::vector<step_node> > rats::leg_coords_generator::swing_leg_dst_steps_list

private

Definition at line 691 of file GaitGenerator.h.

std::vector<step_node> rats::leg_coords_generator::swing_leg_src_steps

private

Definition at line 695 of file GaitGenerator.h.

std::vector<step_node> rats::leg_coords_generator::swing_leg_steps

private

Definition at line 695 of file GaitGenerator.h.

std::vector<leg_type> rats::leg_coords_generator::swing_leg_types

private

Definition at line 704 of file GaitGenerator.h.

double rats::leg_coords_generator::swing_ratio

private

Definition at line 696 of file GaitGenerator.h.

coordinates rats::leg_coords_generator::swing_support_midcoords

private

Definition at line 715 of file GaitGenerator.h.

toe_heel_phase_counter rats::leg_coords_generator::thp

private

Definition at line 713 of file GaitGenerator.h.

double rats::leg_coords_generator::time_offset

private

Definition at line 697 of file GaitGenerator.h.

double rats::leg_coords_generator::time_offset_xy2z

private

Definition at line 697 of file GaitGenerator.h.

double rats::leg_coords_generator::toe_angle

private

Definition at line 720 of file GaitGenerator.h.

double rats::leg_coords_generator::toe_heel_dif_angle

private

Definition at line 720 of file GaitGenerator.h.

interpolator* rats::leg_coords_generator::toe_heel_interpolator

private

Definition at line 719 of file GaitGenerator.h.

double rats::leg_coords_generator::toe_pos_offset_x

private

Definition at line 720 of file GaitGenerator.h.

bool rats::leg_coords_generator::use_toe_heel_auto_set

private

Definition at line 721 of file GaitGenerator.h.

bool rats::leg_coords_generator::use_toe_joint

private

Definition at line 721 of file GaitGenerator.h.

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

• GaitGenerator.h
• GaitGenerator.cpp