#include <feet_pose_generator.h>

Public Types
typedef boost::shared_ptr< const FeetPoseGenerator >	ConstPtr

typedef boost::shared_ptr< FeetPoseGenerator >	Ptr

Public Member Functions
	FeetPoseGenerator (ros::NodeHandle &nh)

msgs::ErrorStatus	generateFeetPose (const msgs::FeetPoseRequest &request, msgs::Feet &feet)

void	setRobotPose (const geometry_msgs::PoseStampedConstPtr &robot_pose)

void	setRobotPoseWithCovariance (const geometry_msgs::PoseWithCovarianceStampedConstPtr &robot_pose)

void	setTerrainModel (const vigir_terrain_classifier::TerrainModelMsg::ConstPtr &terrain_model)

virtual	~FeetPoseGenerator ()

Protected Member Functions
msgs::Feet	generateFeetPose (const geometry_msgs::PoseStamped &pose)

bool	getCurrentFeetPose (msgs::Feet &feet, const std::string &request_frame)

void	pelvisToGroundTransform (msgs::Feet &feet) const

msgs::ErrorStatus	updateFeetPose (msgs::Feet &feet) const

Protected Attributes
double	foot_separation

bool	has_robot_pose

std::string	left_foot_frame_id

double	left_foot_shift_z

geometry_msgs::Vector3	pelvis_to_feet_center

std::string	right_foot_frame_id

double	right_foot_shift_z

geometry_msgs::PoseStamped	robot_pose

vigir_terrain_classifier::TerrainModel::Ptr	terrain_model

tf::TransformListener	tf_listener

ros::ServiceClient	transform_feet_poses_client

Detailed Description

Definition at line 48 of file feet_pose_generator.h.

Member Typedef Documentation

typedef boost::shared_ptr<const FeetPoseGenerator> vigir_footstep_planning::FeetPoseGenerator::ConstPtr

Definition at line 63 of file feet_pose_generator.h.

typedef boost::shared_ptr<FeetPoseGenerator> vigir_footstep_planning::FeetPoseGenerator::Ptr

Definition at line 62 of file feet_pose_generator.h.

Constructor & Destructor Documentation

vigir_footstep_planning::FeetPoseGenerator::FeetPoseGenerator ( ros::NodeHandle & nh )

Definition at line 5 of file feet_pose_generator.cpp.

vigir_footstep_planning::FeetPoseGenerator::~FeetPoseGenerator ( )

virtual

Definition at line 28 of file feet_pose_generator.cpp.

Member Function Documentation

msgs::ErrorStatus vigir_footstep_planning::FeetPoseGenerator::generateFeetPose	(	const msgs::FeetPoseRequest &	request,
		msgs::Feet &	feet
	)

Definition at line 55 of file feet_pose_generator.cpp.

msgs::Feet vigir_footstep_planning::FeetPoseGenerator::generateFeetPose ( const geometry_msgs::PoseStamped & pose )

protected

This method assumes that the given pose is in center between both feet.

Definition at line 170 of file feet_pose_generator.cpp.

bool vigir_footstep_planning::FeetPoseGenerator::getCurrentFeetPose	(	msgs::Feet &	feet,
		const std::string &	request_frame
	)

protected

Definition at line 146 of file feet_pose_generator.cpp.

void vigir_footstep_planning::FeetPoseGenerator::pelvisToGroundTransform ( msgs::Feet & feet ) const

protected

TODO: Transform pelvis_to_feet_center to world frame!

Definition at line 196 of file feet_pose_generator.cpp.

void vigir_footstep_planning::FeetPoseGenerator::setRobotPose ( const geometry_msgs::PoseStampedConstPtr & robot_pose )

Definition at line 32 of file feet_pose_generator.cpp.

void vigir_footstep_planning::FeetPoseGenerator::setRobotPoseWithCovariance ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & robot_pose )

Definition at line 39 of file feet_pose_generator.cpp.

void vigir_footstep_planning::FeetPoseGenerator::setTerrainModel ( const vigir_terrain_classifier::TerrainModelMsg::ConstPtr & terrain_model )

Definition at line 46 of file feet_pose_generator.cpp.

msgs::ErrorStatus vigir_footstep_planning::FeetPoseGenerator::updateFeetPose ( msgs::Feet & feet ) const

protected

Definition at line 130 of file feet_pose_generator.cpp.

Member Data Documentation

double vigir_footstep_planning::FeetPoseGenerator::foot_separation

protected

Definition at line 85 of file feet_pose_generator.h.

bool vigir_footstep_planning::FeetPoseGenerator::has_robot_pose

protected

Definition at line 91 of file feet_pose_generator.h.

std::string vigir_footstep_planning::FeetPoseGenerator::left_foot_frame_id

protected

Definition at line 82 of file feet_pose_generator.h.

double vigir_footstep_planning::FeetPoseGenerator::left_foot_shift_z

protected

Definition at line 86 of file feet_pose_generator.h.

geometry_msgs::Vector3 vigir_footstep_planning::FeetPoseGenerator::pelvis_to_feet_center

protected

Definition at line 89 of file feet_pose_generator.h.

std::string vigir_footstep_planning::FeetPoseGenerator::right_foot_frame_id

protected

Definition at line 83 of file feet_pose_generator.h.

double vigir_footstep_planning::FeetPoseGenerator::right_foot_shift_z

protected

Definition at line 87 of file feet_pose_generator.h.

geometry_msgs::PoseStamped vigir_footstep_planning::FeetPoseGenerator::robot_pose

protected

Definition at line 92 of file feet_pose_generator.h.

vigir_terrain_classifier::TerrainModel::Ptr vigir_footstep_planning::FeetPoseGenerator::terrain_model

protected

Definition at line 80 of file feet_pose_generator.h.

tf::TransformListener vigir_footstep_planning::FeetPoseGenerator::tf_listener

protected

Definition at line 94 of file feet_pose_generator.h.

ros::ServiceClient vigir_footstep_planning::FeetPoseGenerator::transform_feet_poses_client

protected

Definition at line 78 of file feet_pose_generator.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation