vigir_footstep_planning::PatternGenerator Class Reference

#include <pattern_generator.h>

Public Types
typedef boost::shared_ptr< PatternGenerator >	ConstPtr
typedef boost::shared_ptr< PatternGenerator >	Ptr

Public Member Functions
void	clearStepPlan ()
msgs::ErrorStatus	generatePattern (const msgs::StepPlanRequest &step_plan_request, msgs::StepPlan &step_plan)
void	getCompleteStepPlan (msgs::StepPlan &step_plan) const
void	getLastStepSequence (msgs::StepPlan &step_plan) const
int	getNextStartStepIndex () const
bool	hasNewSteps () const
bool	hasSteps () const
bool	isEnabled () const
bool	isSimulationMode () const
	PatternGenerator (ros::NodeHandle &nh)
void	reset ()
void	setEnabled (bool enabled)
void	setParams (const msgs::PatternGeneratorParameters &params)
void	update (const ros::TimerEvent &timer)
void	updateFirstChangeableStepIndex (int first_changeable_step_index_)
virtual	~PatternGenerator ()

Private Member Functions
void	generateSteps (unsigned int n)
void	updateFeetStartPose (const msgs::Foot &foot)
void	updateFeetStartPose (const msgs::Feet &feet)
void	updateFeetStartPose (const msgs::Step &step)

Private Attributes
boost::shared_ptr< actionlib::SimpleActionClient< msgs::ExecuteStepPlanAction > >	execute_step_plan_ac_
int	first_changeable_step_index_
unsigned int	foot_start_step_index_left_
unsigned int	foot_start_step_index_right_
ros::ServiceClient	generate_feet_pose_client_
bool	has_new_steps_
geometry_msgs::Twist	joystick_cmd_
JoystickHandler::Ptr	joystick_handler_
msgs::StepPlan	last_step_sequence_
double	max_vel_x_
double	max_vel_y_
double	max_vel_yaw_
double	min_vel_x_
int	next_step_index_needed_
unsigned int	number_of_steps_needed_
msgs::PatternGeneratorParameters	params_
msgs::Feet::Ptr	start_feet_pose_
StepPlan	step_plan_
ros::ServiceClient	step_plan_request_client_
ros::ServiceClient	stitch_step_plan_client
std::string	world_frame_id_

Detailed Description

Definition at line 54 of file pattern_generator.h.

Member Typedef Documentation

typedef boost::shared_ptr<PatternGenerator> vigir_footstep_planning::PatternGenerator::ConstPtr

Definition at line 82 of file pattern_generator.h.

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

Definition at line 81 of file pattern_generator.h.

Constructor & Destructor Documentation

vigir_footstep_planning::PatternGenerator::PatternGenerator

(

ros::NodeHandle &

nh

)

Definition at line 5 of file pattern_generator.cpp.

vigir_footstep_planning::PatternGenerator::~PatternGenerator ( )

virtual

Definition at line 29 of file pattern_generator.cpp.

Member Function Documentation

void vigir_footstep_planning::PatternGenerator::clearStepPlan

(

)

Definition at line 134 of file pattern_generator.cpp.

msgs::ErrorStatus vigir_footstep_planning::PatternGenerator::generatePattern	(	const msgs::StepPlanRequest &	step_plan_request,
		msgs::StepPlan &	step_plan
	)

Definition at line 32 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::generateSteps ( unsigned int  n )

private

Definition at line 241 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::getCompleteStepPlan

(

msgs::StepPlan &

step_plan

)

const

Definition at line 118 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::getLastStepSequence

(

msgs::StepPlan &

step_plan

)

const

Definition at line 123 of file pattern_generator.cpp.

int vigir_footstep_planning::PatternGenerator::getNextStartStepIndex

(

)

const

Definition at line 129 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::hasNewSteps

(

)

const

Definition at line 113 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::hasSteps

(

)

const

Definition at line 108 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::isEnabled

(

)

const

Definition at line 98 of file pattern_generator.cpp.

bool vigir_footstep_planning::PatternGenerator::isSimulationMode

(

)

const

Definition at line 103 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::reset

(

)

Definition at line 49 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::setEnabled

(

bool

enabled

)

Definition at line 86 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::setParams

(

const msgs::PatternGeneratorParameters &

params

)

Definition at line 66 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::update

(

const ros::TimerEvent &

timer

)

Definition at line 140 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFeetStartPose ( const msgs::Foot &  foot )

private

Definition at line 198 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFeetStartPose ( const msgs::Feet &  feet )

private

Definition at line 222 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFeetStartPose ( const msgs::Step &  step )

private

Definition at line 230 of file pattern_generator.cpp.

void vigir_footstep_planning::PatternGenerator::updateFirstChangeableStepIndex

(

int

first_changeable_step_index_

)

Definition at line 164 of file pattern_generator.cpp.

Member Data Documentation

boost::shared_ptr<actionlib::SimpleActionClient<msgs::ExecuteStepPlanAction> > vigir_footstep_planning::PatternGenerator::execute_step_plan_ac_

private

Definition at line 125 of file pattern_generator.h.

int vigir_footstep_planning::PatternGenerator::first_changeable_step_index_

private

Definition at line 106 of file pattern_generator.h.

unsigned int vigir_footstep_planning::PatternGenerator::foot_start_step_index_left_

private

Definition at line 111 of file pattern_generator.h.

unsigned int vigir_footstep_planning::PatternGenerator::foot_start_step_index_right_

private

Definition at line 112 of file pattern_generator.h.

ros::ServiceClient vigir_footstep_planning::PatternGenerator::generate_feet_pose_client_

private

Definition at line 120 of file pattern_generator.h.

bool vigir_footstep_planning::PatternGenerator::has_new_steps_

mutableprivate

Definition at line 113 of file pattern_generator.h.

geometry_msgs::Twist vigir_footstep_planning::PatternGenerator::joystick_cmd_

private

Definition at line 93 of file pattern_generator.h.

JoystickHandler::Ptr vigir_footstep_planning::PatternGenerator::joystick_handler_

private

Definition at line 92 of file pattern_generator.h.

msgs::StepPlan vigir_footstep_planning::PatternGenerator::last_step_sequence_

private

Definition at line 117 of file pattern_generator.h.

double vigir_footstep_planning::PatternGenerator::max_vel_x_

private

Definition at line 96 of file pattern_generator.h.

double vigir_footstep_planning::PatternGenerator::max_vel_y_

private

Definition at line 97 of file pattern_generator.h.

double vigir_footstep_planning::PatternGenerator::max_vel_yaw_

private

Definition at line 98 of file pattern_generator.h.

double vigir_footstep_planning::PatternGenerator::min_vel_x_

private

Definition at line 96 of file pattern_generator.h.

int vigir_footstep_planning::PatternGenerator::next_step_index_needed_

private

Definition at line 107 of file pattern_generator.h.

unsigned int vigir_footstep_planning::PatternGenerator::number_of_steps_needed_

private

Definition at line 102 of file pattern_generator.h.

msgs::PatternGeneratorParameters vigir_footstep_planning::PatternGenerator::params_

private

Definition at line 103 of file pattern_generator.h.

msgs::Feet::Ptr vigir_footstep_planning::PatternGenerator::start_feet_pose_

private

Definition at line 110 of file pattern_generator.h.

StepPlan vigir_footstep_planning::PatternGenerator::step_plan_

private

Definition at line 116 of file pattern_generator.h.

ros::ServiceClient vigir_footstep_planning::PatternGenerator::step_plan_request_client_

private

Definition at line 121 of file pattern_generator.h.

ros::ServiceClient vigir_footstep_planning::PatternGenerator::stitch_step_plan_client

private

Definition at line 122 of file pattern_generator.h.

std::string vigir_footstep_planning::PatternGenerator::world_frame_id_

private

Definition at line 101 of file pattern_generator.h.

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

• pattern_generator.h
• pattern_generator.cpp