#include <walking_module.h>

Inheritance diagram for thormang3::OnlineWalkingModule:

Public Member Functions
void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

bool	isRunning ()

	OnlineWalkingModule ()

void	onModuleDisable ()

void	onModuleEnable ()

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)

void	stop ()

virtual	~OnlineWalkingModule ()

Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()

bool	getModuleEnable ()

std::string	getModuleName ()

void	setModuleEnable (bool enable)

virtual	~MotionModule ()

Public Attributes
double	gyro_pitch_

double	gyro_roll_

double	l_foot_fx_N_

double	l_foot_fy_N_

double	l_foot_fz_N_

double	l_foot_Tx_Nm_

double	l_foot_Ty_Nm_

double	l_foot_Tz_Nm_

double	orientation_pitch_

double	orientation_roll_

double	r_foot_fx_N_

double	r_foot_fy_N_

double	r_foot_fz_N_

double	r_foot_Tx_Nm_

double	r_foot_Ty_Nm_

double	r_foot_Tz_Nm_

Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Private Member Functions
bool	addStepDataServiceCallback (thormang3_walking_module_msgs::AddStepDataArray::Request &req, thormang3_walking_module_msgs::AddStepDataArray::Response &res)

bool	checkBalanceOnOff ()

int	convertStepDataMsgToStepData (thormang3_walking_module_msgs::StepData &src, robotis_framework::StepData &des)

int	convertStepDataToStepDataMsg (robotis_framework::StepData &src, thormang3_walking_module_msgs::StepData &des)

bool	getReferenceStepDataServiceCallback (thormang3_walking_module_msgs::GetReferenceStepData::Request &req, thormang3_walking_module_msgs::GetReferenceStepData::Response &res)

void	imuDataOutputCallback (const sensor_msgs::Imu::ConstPtr &msg)

bool	IsRunningServiceCallback (thormang3_walking_module_msgs::IsRunning::Request &req, thormang3_walking_module_msgs::IsRunning::Response &res)

void	publishDoneMsg (std::string msg)

void	publishRobotPose (void)

void	publishStatusMsg (unsigned int type, std::string msg)

void	publishWalkingTuningData ()

void	queueThread ()

bool	removeExistingStepDataServiceCallback (thormang3_walking_module_msgs::RemoveExistingStepData::Request &req, thormang3_walking_module_msgs::RemoveExistingStepData::Response &res)

void	setBalanceParam (thormang3_walking_module_msgs::BalanceParam &balance_param_msg)

bool	setBalanceParamServiceCallback (thormang3_walking_module_msgs::SetBalanceParam::Request &req, thormang3_walking_module_msgs::SetBalanceParam::Response &res)

void	setJointFeedBackGain (thormang3_walking_module_msgs::JointFeedBackGain &msg)

bool	setJointFeedBackGainServiceCallback (thormang3_walking_module_msgs::SetJointFeedBackGain::Request &req, thormang3_walking_module_msgs::SetJointFeedBackGain::Response &res)

bool	startWalkingServiceCallback (thormang3_walking_module_msgs::StartWalking::Request &req, thormang3_walking_module_msgs::StartWalking::Response &res)

void	updateBalanceParam ()

void	updateJointFeedBackGain ()

Private Attributes
double	balance_update_duration_

Eigen::MatrixXd	balance_update_polynomial_coeff_

double	balance_update_sys_time_

bool	balance_update_with_loop_

int	control_cycle_msec_

thormang3_walking_module_msgs::BalanceParam	current_balance_param_

thormang3_walking_module_msgs::JointFeedBackGain	current_joint_feedback_gain_

thormang3_walking_module_msgs::BalanceParam	desired_balance_param_

thormang3_walking_module_msgs::JointFeedBackGain	desired_joint_feedback_gain_

Eigen::MatrixXd	desired_matrix_g_to_cob_

Eigen::MatrixXd	desired_matrix_g_to_lfoot_

Eigen::MatrixXd	desired_matrix_g_to_rfoot_

ros::Publisher	done_msg_pub_

ros::Publisher	ft_states_pub_

bool	gazebo_

ros::Publisher	imu_orientation_states_pub_

double	joint_feedback_update_duration_

Eigen::MatrixXd	joint_feedback_update_polynomial_coeff_

double	joint_feedback_update_sys_time_

bool	joint_feedback_update_with_loop_

std::map< std::string, int >	joint_name_to_index_

int	l_foot_ft_publish_checker_

ros::Publisher	pelvis_base_msg_pub_

bool	present_running

thormang3_walking_module_msgs::BalanceParam	previous_balance_param_

thormang3_walking_module_msgs::JointFeedBackGain	previous_joint_feedback_gain_

bool	previous_running_

boost::mutex	process_mutex_

boost::thread	queue_thread_

int	r_foot_ft_publish_checker_

thormang3_walking_module_msgs::RobotPose	robot_pose_msg_

ros::Publisher	robot_pose_pub_

Eigen::MatrixXd	rot_x_pi_3d_

Eigen::MatrixXd	rot_z_pi_3d_

ros::Publisher	status_msg_pub_

thormang3_walking_module_msgs::WalkingJointStatesStamped	walking_joint_states_msg_

ros::Publisher	walking_joint_states_pub_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< OnlineWalkingModule >
static void	destroyInstance ()

static T *	getInstance ()

Protected Member Functions inherited from robotis_framework::Singleton< OnlineWalkingModule >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_

bool	enable_

std::string	module_name_

Detailed Description

Definition at line 57 of file walking_module.h.

Constructor & Destructor Documentation

OnlineWalkingModule::OnlineWalkingModule ( )

Definition at line 57 of file walking_module.cpp.

OnlineWalkingModule::~OnlineWalkingModule ( )

virtual

Definition at line 143 of file walking_module.cpp.

Member Function Documentation

bool OnlineWalkingModule::addStepDataServiceCallback	(	thormang3_walking_module_msgs::AddStepDataArray::Request &	req,
		thormang3_walking_module_msgs::AddStepDataArray::Response &	res
	)

private

Definition at line 456 of file walking_module.cpp.

bool OnlineWalkingModule::checkBalanceOnOff ( )

private

Definition at line 1002 of file walking_module.cpp.

int OnlineWalkingModule::convertStepDataMsgToStepData	(	thormang3_walking_module_msgs::StepData &	src,
		robotis_framework::StepData &	des
	)

private

Definition at line 318 of file walking_module.cpp.

int OnlineWalkingModule::convertStepDataToStepDataMsg	(	robotis_framework::StepData &	src,
		thormang3_walking_module_msgs::StepData &	des
	)

private

Definition at line 404 of file walking_module.cpp.

bool OnlineWalkingModule::getReferenceStepDataServiceCallback	(	thormang3_walking_module_msgs::GetReferenceStepData::Request &	req,
		thormang3_walking_module_msgs::GetReferenceStepData::Response &	res
	)

private

Definition at line 442 of file walking_module.cpp.

void OnlineWalkingModule::imuDataOutputCallback ( const sensor_msgs::Imu::ConstPtr & msg )

private

Definition at line 1067 of file walking_module.cpp.

void OnlineWalkingModule::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 148 of file walking_module.cpp.

bool OnlineWalkingModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 603 of file walking_module.cpp.

bool OnlineWalkingModule::IsRunningServiceCallback	(	thormang3_walking_module_msgs::IsRunning::Request &	req,
		thormang3_walking_module_msgs::IsRunning::Response &	res
	)

private

Definition at line 594 of file walking_module.cpp.

void OnlineWalkingModule::onModuleDisable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 1084 of file walking_module.cpp.

void OnlineWalkingModule::onModuleEnable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 1077 of file walking_module.cpp.

void OnlineWalkingModule::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, double >	sensors
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 1151 of file walking_module.cpp.

void OnlineWalkingModule::publishDoneMsg ( std::string msg )

private

Definition at line 310 of file walking_module.cpp.

void OnlineWalkingModule::publishRobotPose ( void )

private

Definition at line 255 of file walking_module.cpp.

void OnlineWalkingModule::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 299 of file walking_module.cpp.

void thormang3::OnlineWalkingModule::publishWalkingTuningData ( )

private

void OnlineWalkingModule::queueThread ( )

private

Definition at line 213 of file walking_module.cpp.

bool OnlineWalkingModule::removeExistingStepDataServiceCallback	(	thormang3_walking_module_msgs::RemoveExistingStepData::Request &	req,
		thormang3_walking_module_msgs::RemoveExistingStepData::Response &	res
	)

private

Definition at line 1045 of file walking_module.cpp.

void OnlineWalkingModule::setBalanceParam ( thormang3_walking_module_msgs::BalanceParam & balance_param_msg )

private

Definition at line 819 of file walking_module.cpp.

bool OnlineWalkingModule::setBalanceParamServiceCallback	(	thormang3_walking_module_msgs::SetBalanceParam::Request &	req,
		thormang3_walking_module_msgs::SetBalanceParam::Response &	res
	)

private

Definition at line 690 of file walking_module.cpp.

void OnlineWalkingModule::setJointFeedBackGain ( thormang3_walking_module_msgs::JointFeedBackGain & msg )

private

Definition at line 930 of file walking_module.cpp.

bool OnlineWalkingModule::setJointFeedBackGainServiceCallback	(	thormang3_walking_module_msgs::SetJointFeedBackGain::Request &	req,
		thormang3_walking_module_msgs::SetJointFeedBackGain::Response &	res
	)

private

Definition at line 608 of file walking_module.cpp.

bool OnlineWalkingModule::startWalkingServiceCallback	(	thormang3_walking_module_msgs::StartWalking::Request &	req,
		thormang3_walking_module_msgs::StartWalking::Response &	res
	)

private

Definition at line 555 of file walking_module.cpp.

void OnlineWalkingModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 1332 of file walking_module.cpp.

void OnlineWalkingModule::updateBalanceParam ( )

private

Definition at line 883 of file walking_module.cpp.

void OnlineWalkingModule::updateJointFeedBackGain ( )

private

Definition at line 961 of file walking_module.cpp.

Member Data Documentation

double thormang3::OnlineWalkingModule::balance_update_duration_

private

Definition at line 152 of file walking_module.h.

Eigen::MatrixXd thormang3::OnlineWalkingModule::balance_update_polynomial_coeff_

private

Definition at line 154 of file walking_module.h.

double thormang3::OnlineWalkingModule::balance_update_sys_time_

private

Definition at line 153 of file walking_module.h.

bool thormang3::OnlineWalkingModule::balance_update_with_loop_

private

Definition at line 151 of file walking_module.h.

int thormang3::OnlineWalkingModule::control_cycle_msec_

private

Definition at line 125 of file walking_module.h.

thormang3_walking_module_msgs::BalanceParam thormang3::OnlineWalkingModule::current_balance_param_

private

Definition at line 167 of file walking_module.h.

thormang3_walking_module_msgs::JointFeedBackGain thormang3::OnlineWalkingModule::current_joint_feedback_gain_

private

Definition at line 163 of file walking_module.h.

thormang3_walking_module_msgs::BalanceParam thormang3::OnlineWalkingModule::desired_balance_param_

private

Definition at line 168 of file walking_module.h.

thormang3_walking_module_msgs::JointFeedBackGain thormang3::OnlineWalkingModule::desired_joint_feedback_gain_

private

Definition at line 164 of file walking_module.h.

Eigen::MatrixXd thormang3::OnlineWalkingModule::desired_matrix_g_to_cob_

private

Definition at line 130 of file walking_module.h.

Eigen::MatrixXd thormang3::OnlineWalkingModule::desired_matrix_g_to_lfoot_

private

Definition at line 132 of file walking_module.h.

Eigen::MatrixXd thormang3::OnlineWalkingModule::desired_matrix_g_to_rfoot_

private

Definition at line 131 of file walking_module.h.

ros::Publisher thormang3::OnlineWalkingModule::done_msg_pub_

private

Definition at line 142 of file walking_module.h.

ros::Publisher thormang3::OnlineWalkingModule::ft_states_pub_

private

Definition at line 146 of file walking_module.h.

bool thormang3::OnlineWalkingModule::gazebo_

private

Definition at line 124 of file walking_module.h.

double thormang3::OnlineWalkingModule::gyro_pitch_

Definition at line 72 of file walking_module.h.

double thormang3::OnlineWalkingModule::gyro_roll_

Definition at line 72 of file walking_module.h.

ros::Publisher thormang3::OnlineWalkingModule::imu_orientation_states_pub_

private

Definition at line 145 of file walking_module.h.

double thormang3::OnlineWalkingModule::joint_feedback_update_duration_

private

Definition at line 158 of file walking_module.h.

Eigen::MatrixXd thormang3::OnlineWalkingModule::joint_feedback_update_polynomial_coeff_

private

Definition at line 160 of file walking_module.h.

double thormang3::OnlineWalkingModule::joint_feedback_update_sys_time_

private

Definition at line 159 of file walking_module.h.

bool thormang3::OnlineWalkingModule::joint_feedback_update_with_loop_

private

Definition at line 157 of file walking_module.h.

std::map<std::string, int> thormang3::OnlineWalkingModule::joint_name_to_index_

private

Definition at line 122 of file walking_module.h.

int thormang3::OnlineWalkingModule::l_foot_ft_publish_checker_

private

Definition at line 138 of file walking_module.h.

double thormang3::OnlineWalkingModule::l_foot_fx_N_

Definition at line 76 of file walking_module.h.

double thormang3::OnlineWalkingModule::l_foot_fy_N_

Definition at line 76 of file walking_module.h.

double thormang3::OnlineWalkingModule::l_foot_fz_N_

Definition at line 76 of file walking_module.h.

double thormang3::OnlineWalkingModule::l_foot_Tx_Nm_

Definition at line 77 of file walking_module.h.

double thormang3::OnlineWalkingModule::l_foot_Ty_Nm_

Definition at line 77 of file walking_module.h.

double thormang3::OnlineWalkingModule::l_foot_Tz_Nm_

Definition at line 77 of file walking_module.h.

double thormang3::OnlineWalkingModule::orientation_pitch_

Definition at line 73 of file walking_module.h.

double thormang3::OnlineWalkingModule::orientation_roll_

Definition at line 73 of file walking_module.h.

ros::Publisher thormang3::OnlineWalkingModule::pelvis_base_msg_pub_

private

Definition at line 141 of file walking_module.h.

bool thormang3::OnlineWalkingModule::present_running

private

Definition at line 134 of file walking_module.h.

thormang3_walking_module_msgs::BalanceParam thormang3::OnlineWalkingModule::previous_balance_param_

private

Definition at line 166 of file walking_module.h.

thormang3_walking_module_msgs::JointFeedBackGain thormang3::OnlineWalkingModule::previous_joint_feedback_gain_

private

Definition at line 162 of file walking_module.h.

bool thormang3::OnlineWalkingModule::previous_running_

private

Definition at line 134 of file walking_module.h.

boost::mutex thormang3::OnlineWalkingModule::process_mutex_

private

Definition at line 127 of file walking_module.h.

boost::thread thormang3::OnlineWalkingModule::queue_thread_

private

Definition at line 126 of file walking_module.h.

int thormang3::OnlineWalkingModule::r_foot_ft_publish_checker_

private

Definition at line 137 of file walking_module.h.

double thormang3::OnlineWalkingModule::r_foot_fx_N_

Definition at line 74 of file walking_module.h.

double thormang3::OnlineWalkingModule::r_foot_fy_N_

Definition at line 74 of file walking_module.h.

double thormang3::OnlineWalkingModule::r_foot_fz_N_

Definition at line 74 of file walking_module.h.

double thormang3::OnlineWalkingModule::r_foot_Tx_Nm_

Definition at line 75 of file walking_module.h.

double thormang3::OnlineWalkingModule::r_foot_Ty_Nm_

Definition at line 75 of file walking_module.h.

double thormang3::OnlineWalkingModule::r_foot_Tz_Nm_

Definition at line 75 of file walking_module.h.

thormang3_walking_module_msgs::RobotPose thormang3::OnlineWalkingModule::robot_pose_msg_

private

Definition at line 150 of file walking_module.h.

ros::Publisher thormang3::OnlineWalkingModule::robot_pose_pub_

private

Definition at line 139 of file walking_module.h.

Eigen::MatrixXd thormang3::OnlineWalkingModule::rot_x_pi_3d_

private

Definition at line 129 of file walking_module.h.

Eigen::MatrixXd thormang3::OnlineWalkingModule::rot_z_pi_3d_

private

Definition at line 129 of file walking_module.h.

ros::Publisher thormang3::OnlineWalkingModule::status_msg_pub_

private

Definition at line 140 of file walking_module.h.

thormang3_walking_module_msgs::WalkingJointStatesStamped thormang3::OnlineWalkingModule::walking_joint_states_msg_

private

Definition at line 147 of file walking_module.h.

ros::Publisher thormang3::OnlineWalkingModule::walking_joint_states_pub_

private

Definition at line 144 of file walking_module.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation