gait_generator.h
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29 
30 #ifndef TOWR_MODELS_GAIT_GENERATOR_H_
31 #define TOWR_MODELS_GAIT_GENERATOR_H_
32 
33 #include <memory>
34 #include <string>
35 #include <utility>
36 #include <vector>
37 
38 namespace towr {
39 
47 public:
48  using Ptr = std::shared_ptr<GaitGenerator>;
49  using VecTimes = std::vector<double>;
50  using FootDurations = std::vector<VecTimes>;
51  using ContactState = std::vector<bool>;
52  using GaitInfo = std::pair<VecTimes,std::vector<ContactState>>;
53  using EE = uint;
54 
58  enum Combos { C0, C1, C2, C3, C4, COMBO_COUNT};
59 
63  enum Gaits {Stand=0, Flight,
68 
69  static Ptr MakeGaitGenerator(int leg_count);
70 
71  GaitGenerator () = default;
72  virtual ~GaitGenerator () = default;
73 
79  VecTimes GetPhaseDurations(double T, EE ee) const;
80 
85  bool IsInContactAtStart(EE ee) const;
86 
93  virtual void SetCombo(Combos combo) = 0;
94 
99  void SetGaits(const std::vector<Gaits>& gaits);
100 
101 protected:
103  std::vector<double> times_;
104 
109  std::vector<ContactState> contacts_;
110 
115  GaitInfo RemoveTransition(const GaitInfo& g) const;
116 
117 private:
119  virtual GaitInfo GetGait(Gaits gait) const = 0;
121 };
122 
123 } /* namespace towr */
124 
125 #endif /* TOWR_MODELS_GAIT_GENERATOR_H_ */
virtual void SetCombo(Combos combo)=0
Sets a specific sequence of gaits.
std::vector< double > times_
Phase times for the complete robot during which no contact state changes.
VecTimes GetNormalizedPhaseDurations(EE ee) const
Gaits
Predefined strides, each with a different gait diagram.
GaitInfo RemoveTransition(const GaitInfo &g) const
Combos
Predefined combinations of different strides.
FootDurations GetPhaseDurations() const
std::vector< ContactState > contacts_
void SetGaits(const std::vector< Gaits > &gaits)
Sets the times_ and contacts_ variables according to the gaits.
std::vector< double > VecTimes
bool IsInContactAtStart(EE ee) const
std::pair< VecTimes, std::vector< ContactState >> GaitInfo
GaitGenerator()=default
std::shared_ptr< GaitGenerator > Ptr
Generates endeffector phase durations for predefined gait styles.
std::vector< bool > ContactState
static Ptr MakeGaitGenerator(int leg_count)
std::vector< VecTimes > FootDurations
virtual GaitInfo GetGait(Gaits gait) const =0
virtual ~GaitGenerator()=default


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16