Public Member Functions | Private Member Functions | Private Attributes | List of all members
vigir_footstep_planning::State Class Reference

A class representing the robot's pose (i.e. position and orientation) in the (continuous) world view. More precisely a state points to the robot's supporting leg. More...

#include <state.h>

Public Member Functions

const geometry_msgs::Vector3 & getBodyVelocity () const
 
double getCost () const
 
void getFoot (msgs::Foot &foot) const
 
double getGroundContactSupport () const
 
Leg getLeg () const
 
const geometry_msgs::Vector3 & getNormal () const
 
double getNormalX () const
 
double getNormalY () const
 
double getNormalZ () const
 
double getPitch () const
 
const tf::Pose & getPose () const
 
tf::Pose & getPose ()
 
double getRisk () const
 
double getRoll () const
 
void getStep (msgs::Step &step) const
 
double getStepDuration () const
 
double getSwayDistance () const
 
double getSwayDuration () const
 
double getSwingDistance () const
 
double getSwingHeight () const
 
double getX () const
 
double getY () const
 
double getYaw () const
 
double getZ () const
 
bool operator!= (const State &s2) const
 Inequality operator for two states (negates the equality operator). More...
 
bool operator== (const State &s2) const
 Compare two states on equality of x, y, theta, leg upon a certain degree of float precision. More...
 
void setBodyVelocity (const geometry_msgs::Vector3 &body_vel)
 
void setCost (double cost)
 
void setGroundContactSupport (double ground_contact_support)
 
void setLeg (Leg leg)
 
void setNormal (const geometry_msgs::Vector3 &normal)
 
void setNormal (double x, double y, double z)
 
void setOrientation (const geometry_msgs::Quaternion &q)
 
void setPitch (double pitch)
 
void setPosition (const geometry_msgs::Point &position)
 
void setRisk (double risk)
 
void setRoll (double roll)
 
void setRPY (double roll, double pitch, double yaw)
 
void setStepDuration (double step_duration)
 
void setSwayDistance (double sway_distance)
 
void setSwayDuration (double sway_duration)
 
void setSwingDistance (double swing_distance)
 
void setSwingHeight (double swing_height)
 
void setX (double x)
 
void setY (double y)
 
void setYaw (double yaw)
 
void setZ (double z)
 
 State ()
 
 State (double x, double y, double z, double roll, double pitch, double yaw, Leg leg)
 
 State (const geometry_msgs::Vector3 &position, double roll, double pitch, double yaw, Leg leg)
 
 State (const geometry_msgs::Vector3 &position, const geometry_msgs::Vector3 &normal, double yaw, Leg leg)
 
 State (const geometry_msgs::Pose &pose, Leg leg)
 
 State (const tf::Transform &t, Leg leg)
 
 State (const msgs::Foot foot)
 
 State (const msgs::Step step)
 
 ~State ()
 

Private Member Functions

void recomputeNormal ()
 

Private Attributes

geometry_msgs::Vector3 body_vel
 
double cost
 
double ivGroundContactSupport
 percentage of ground contact support (0.0 - 1.0 = 100%) More...
 
Leg ivLeg
 The robot's supporting leg. More...
 
geometry_msgs::Vector3 ivNormal
 The normal of foot in world. More...
 
double ivPitch
 
tf::Pose ivPose
 
double ivRoll
 The robot's orientation. More...
 
double ivStepDuration
 
double ivSwayDuration
 
double ivSwingHeight
 
double ivYaw
 
double risk
 
double sway_distance
 
double swing_distance
 

Detailed Description

A class representing the robot's pose (i.e. position and orientation) in the (continuous) world view. More precisely a state points to the robot's supporting leg.

Definition at line 49 of file state.h.

Constructor & Destructor Documentation

vigir_footstep_planning::State::State ( )

Definition at line 5 of file state.cpp.

vigir_footstep_planning::State::State ( double  x,
double  y,
double  z,
double  roll,
double  pitch,
double  yaw,
Leg  leg 
)

Definition at line 27 of file state.cpp.

vigir_footstep_planning::State::State ( const geometry_msgs::Vector3 &  position,
double  roll,
double  pitch,
double  yaw,
Leg  leg 
)

Definition at line 48 of file state.cpp.

vigir_footstep_planning::State::State ( const geometry_msgs::Vector3 &  position,
const geometry_msgs::Vector3 &  normal,
double  yaw,
Leg  leg 
)

Definition at line 53 of file state.cpp.

vigir_footstep_planning::State::State ( const geometry_msgs::Pose &  pose,
Leg  leg 
)

Definition at line 71 of file state.cpp.

vigir_footstep_planning::State::State ( const tf::Transform &  t,
Leg  leg 
)
vigir_footstep_planning::State::State ( const msgs::Foot  foot)

Definition at line 107 of file state.cpp.

vigir_footstep_planning::State::State ( const msgs::Step  step)

Definition at line 112 of file state.cpp.

vigir_footstep_planning::State::~State ( )

Definition at line 120 of file state.cpp.

Member Function Documentation

const geometry_msgs::Vector3& vigir_footstep_planning::State::getBodyVelocity ( ) const
inline

Definition at line 114 of file state.h.

double vigir_footstep_planning::State::getCost ( ) const
inline

Definition at line 115 of file state.h.

void vigir_footstep_planning::State::getFoot ( msgs::Foot &  foot) const

Definition at line 206 of file state.cpp.

double vigir_footstep_planning::State::getGroundContactSupport ( ) const
inline

Definition at line 113 of file state.h.

Leg vigir_footstep_planning::State::getLeg ( ) const
inline

Definition at line 112 of file state.h.

const geometry_msgs::Vector3& vigir_footstep_planning::State::getNormal ( ) const
inline

Definition at line 103 of file state.h.

double vigir_footstep_planning::State::getNormalX ( ) const
inline

Definition at line 104 of file state.h.

double vigir_footstep_planning::State::getNormalY ( ) const
inline

Definition at line 105 of file state.h.

double vigir_footstep_planning::State::getNormalZ ( ) const
inline

Definition at line 106 of file state.h.

double vigir_footstep_planning::State::getPitch ( ) const
inline

Definition at line 101 of file state.h.

const tf::Pose& vigir_footstep_planning::State::getPose ( ) const
inline

Definition at line 118 of file state.h.

tf::Pose& vigir_footstep_planning::State::getPose ( )
inline

Definition at line 119 of file state.h.

double vigir_footstep_planning::State::getRisk ( ) const
inline

Definition at line 116 of file state.h.

double vigir_footstep_planning::State::getRoll ( ) const
inline

Definition at line 100 of file state.h.

void vigir_footstep_planning::State::getStep ( msgs::Step &  step) const

Definition at line 195 of file state.cpp.

double vigir_footstep_planning::State::getStepDuration ( ) const
inline

Definition at line 109 of file state.h.

double vigir_footstep_planning::State::getSwayDistance ( ) const
inline

Definition at line 110 of file state.h.

double vigir_footstep_planning::State::getSwayDuration ( ) const
inline

Definition at line 108 of file state.h.

double vigir_footstep_planning::State::getSwingDistance ( ) const
inline

Definition at line 111 of file state.h.

double vigir_footstep_planning::State::getSwingHeight ( ) const
inline

Definition at line 107 of file state.h.

double vigir_footstep_planning::State::getX ( ) const
inline

Definition at line 97 of file state.h.

double vigir_footstep_planning::State::getY ( ) const
inline

Definition at line 98 of file state.h.

double vigir_footstep_planning::State::getYaw ( ) const
inline

Definition at line 102 of file state.h.

double vigir_footstep_planning::State::getZ ( ) const
inline

Definition at line 99 of file state.h.

bool vigir_footstep_planning::State::operator!= ( const State &  s2) const

Inequality operator for two states (negates the equality operator).

Definition at line 134 of file state.cpp.

bool vigir_footstep_planning::State::operator== ( const State &  s2) const

Compare two states on equality of x, y, theta, leg upon a certain degree of float precision.

Definition at line 123 of file state.cpp.

void vigir_footstep_planning::State::recomputeNormal ( )
private

Definition at line 215 of file state.cpp.

void vigir_footstep_planning::State::setBodyVelocity ( const geometry_msgs::Vector3 &  body_vel)
inline

Definition at line 93 of file state.h.

void vigir_footstep_planning::State::setCost ( double  cost)
inline

Definition at line 94 of file state.h.

void vigir_footstep_planning::State::setGroundContactSupport ( double  ground_contact_support)
inline

Definition at line 92 of file state.h.

void vigir_footstep_planning::State::setLeg ( Leg  leg)
inline

Definition at line 91 of file state.h.

void vigir_footstep_planning::State::setNormal ( const geometry_msgs::Vector3 &  normal)

Definition at line 165 of file state.cpp.

void vigir_footstep_planning::State::setNormal ( double  x,
double  y,
double  z 
)

Definition at line 186 of file state.cpp.

void vigir_footstep_planning::State::setOrientation ( const geometry_msgs::Quaternion &  q)

Definition at line 146 of file state.cpp.

void vigir_footstep_planning::State::setPitch ( double  pitch)
inline

Definition at line 80 of file state.h.

void vigir_footstep_planning::State::setPosition ( const geometry_msgs::Point &  position)

Definition at line 139 of file state.cpp.

void vigir_footstep_planning::State::setRisk ( double  risk)
inline

Definition at line 95 of file state.h.

void vigir_footstep_planning::State::setRoll ( double  roll)
inline

Definition at line 79 of file state.h.

void vigir_footstep_planning::State::setRPY ( double  roll,
double  pitch,
double  yaw 
)

Definition at line 155 of file state.cpp.

void vigir_footstep_planning::State::setStepDuration ( double  step_duration)
inline

Definition at line 88 of file state.h.

void vigir_footstep_planning::State::setSwayDistance ( double  sway_distance)
inline

Definition at line 89 of file state.h.

void vigir_footstep_planning::State::setSwayDuration ( double  sway_duration)
inline

Definition at line 87 of file state.h.

void vigir_footstep_planning::State::setSwingDistance ( double  swing_distance)
inline

Definition at line 90 of file state.h.

void vigir_footstep_planning::State::setSwingHeight ( double  swing_height)
inline

Definition at line 86 of file state.h.

void vigir_footstep_planning::State::setX ( double  x)
inline

Definition at line 75 of file state.h.

void vigir_footstep_planning::State::setY ( double  y)
inline

Definition at line 76 of file state.h.

void vigir_footstep_planning::State::setYaw ( double  yaw)
inline

Definition at line 81 of file state.h.

void vigir_footstep_planning::State::setZ ( double  z)
inline

Definition at line 77 of file state.h.

Member Data Documentation

geometry_msgs::Vector3 vigir_footstep_planning::State::body_vel
private

Definition at line 144 of file state.h.

double vigir_footstep_planning::State::cost
private

Definition at line 149 of file state.h.

double vigir_footstep_planning::State::ivGroundContactSupport
private

percentage of ground contact support (0.0 - 1.0 = 100%)

Definition at line 142 of file state.h.

Leg vigir_footstep_planning::State::ivLeg
private

The robot's supporting leg.

Definition at line 129 of file state.h.

geometry_msgs::Vector3 vigir_footstep_planning::State::ivNormal
private

The normal of foot in world.

Definition at line 136 of file state.h.

double vigir_footstep_planning::State::ivPitch
private

Definition at line 133 of file state.h.

tf::Pose vigir_footstep_planning::State::ivPose
private

Definition at line 126 of file state.h.

double vigir_footstep_planning::State::ivRoll
private

The robot's orientation.

Definition at line 132 of file state.h.

double vigir_footstep_planning::State::ivStepDuration
private

Definition at line 139 of file state.h.

double vigir_footstep_planning::State::ivSwayDuration
private

Definition at line 138 of file state.h.

double vigir_footstep_planning::State::ivSwingHeight
private

Definition at line 137 of file state.h.

double vigir_footstep_planning::State::ivYaw
private

Definition at line 134 of file state.h.

double vigir_footstep_planning::State::risk
private

Definition at line 150 of file state.h.

double vigir_footstep_planning::State::sway_distance
private

Definition at line 146 of file state.h.

double vigir_footstep_planning::State::swing_distance
private

Definition at line 147 of file state.h.

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

vigir_footstep_planning_lib
Author(s): Alexander Stumpf
autogenerated on Mon Jun 10 2019 15:47:33