contact_state_error.py
/tmp/ws/src/jsk_control/jsk_footstep_controller/scripts/
contact__state__error_8py
contact_state_error
def
callback
namespacecontact__state__error.html
a5030d41a390e36f9320b15fe03bd0078
(msg)
def
main
namespacecontact__state__error.html
aa07764607e9c77a4f3ca9e32231d1f79
()
list
data_pitch
namespacecontact__state__error.html
aef4f8df2c967c3c9d125d96d19a4d221
list
data_roll
namespacecontact__state__error.html
a155ec58da9281d588eef24be9507360e
list
data_z
namespacecontact__state__error.html
a56f7bccb464062b0e6497ff2990ca314
dump_mocap.py
/tmp/ws/src/jsk_control/jsk_footstep_controller/scripts/
dump__mocap_8py
dump_mocap
def
callback
namespacedump__mocap.html
a8679025e4d8df4ded0bb3d340fa56b16
(msg)
def
poseMsgToMatrix
namespacedump__mocap.html
af3a67b3622a9d5bff20c9856a689d57f
(pose)
f
namespacedump__mocap.html
adb369e0889b233b878e84d40cc05de5e
file_name
namespacedump__mocap.html
a43cdd7207d944c6bc1325fd68ac58abf
initial_pose
namespacedump__mocap.html
a5b7e59f225585b35ac3be3dd17bc2063
sub
namespacedump__mocap.html
a1b9302564380237a52af2d07d55645b1
tf_listener
namespacedump__mocap.html
a6ba91016c7c0a16ffb6066532e000814
world_pose
namespacedump__mocap.html
a5ceab0ca5996b8ff5bcc8f35f92a542f
foot_contact_monitor.py
/tmp/ws/src/jsk_control/jsk_footstep_controller/scripts/
foot__contact__monitor_8py
foot_contact_monitor
def
contactGroundCallback
namespacefoot__contact__monitor.html
a8f8fc4c4f5c688d43de1fcd64b8e6f69
(msg)
def
main
namespacefoot__contact__monitor.html
ac7112a3af6630e4041ce00eca31bf657
()
def
requireMonitorCallback
namespacefoot__contact__monitor.html
a3ddbd252797e8fc6c8cbae69d49e81c7
(req)
g_contact_state
namespacefoot__contact__monitor.html
a9f575893bdaee6783123a1af7ebe686b
g_lock
namespacefoot__contact__monitor.html
a8670452d26e9e0515abf67eb6100b081
footcoords.cpp
/tmp/ws/src/jsk_control/jsk_footstep_controller/src/
footcoords_8cpp
jsk_footstep_controller
int
main
footcoords_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
footcoords.h
/tmp/ws/src/jsk_control/jsk_footstep_controller/include/jsk_footstep_controller/
footcoords_8h
jsk_footstep_controller::Footcoords
jsk_footstep_controller::TimeStampedVector
jsk_footstep_controller::ValueStamped
jsk_footstep_controller
footstep_visualizer.py
/tmp/ws/src/jsk_control/jsk_footstep_controller/scripts/
footstep__visualizer_8py
footstep_visualizer
def
actCPCallback
namespacefootstep__visualizer.html
aac2fc9f2baf3e97a50615dac8754461f
(msg)
def
config_callback
namespacefootstep__visualizer.html
a881a9e9b7c60b3262c1c291f966b6947
(config, level)
def
contactStatesCallback
namespacefootstep__visualizer.html
ade357ba9eb1de051cb41a5294dc36228
(msg)
def
drawPoint
namespacefootstep__visualizer.html
a53bbcf9362c1930bd413d0ca7d143f7d
(image, point, size, color, text)
def
llegCopCallback
namespacefootstep__visualizer.html
a3a3ebe98061be054e634c78ed15bb0a1
(msg)
def
matrixFromTranslationQuaternion
namespacefootstep__visualizer.html
a460577a60af9681fe807c228eb4792bc
(trans, q)
def
periodicCallback
namespacefootstep__visualizer.html
a7f71a7280d787a9787b6f0fc73b48b9f
(event)
def
refCPCallback
namespacefootstep__visualizer.html
a927a8eda210b86c3d3247568dd16a9b0
(msg)
def
rlegCopCallback
namespacefootstep__visualizer.html
a6fd211a65b4761c5accf639dee884d97
(msg)
def
transformToMatrix
namespacefootstep__visualizer.html
a8a2ec11f5677205b77f659f81a7ffb92
(transform)
def
verticesPoints
namespacefootstep__visualizer.html
afb843e226b9c74cd2fbf4b855eea9402
(original_vertices, origin_pose, scale, resolution_size)
def
verticesPoints3D
namespacefootstep__visualizer.html
ae00cbe4a3ad211abf45ba03bd26fe436
(original_vertices, origin_pose, scale, resolution_size)
def
zmpCallback
namespacefootstep__visualizer.html
ae6c4e47abf0db0be66ebd83332606641
(msg)
act_contact_states_msg
namespacefootstep__visualizer.html
a44d7125ee009136bab1de37ce0d59be6
act_cp_msg
namespacefootstep__visualizer.html
a732b76fcefdbeb2af5ab974b67fedf04
act_cp_point_sub
namespacefootstep__visualizer.html
a1e90ce21cfc78fd09090602cf51b005d
contact_states_sub
namespacefootstep__visualizer.html
aaad6e3ef8668db859de9035185025ea5
cp_check_margin
namespacefootstep__visualizer.html
a3fa62fac27700af77a78968560fbbbc7
g_get_parameter_srv
namespacefootstep__visualizer.html
ab8f37489166ec5c4568abe1fc9d92919
i_param
namespacefootstep__visualizer.html
a98929df7ab0a0026724de2b302702bdf
image_size
namespacefootstep__visualizer.html
a9ade26c0d4e4d3f26d2a72e34bd8254f
leg_front_margin
namespacefootstep__visualizer.html
ad0e088099f3fdc488712d947525e051d
leg_inside_margin
namespacefootstep__visualizer.html
aa61cc5517af2c3c91b1712d6436b3dba
leg_outside_margin
namespacefootstep__visualizer.html
aca584cc4ff4d0f2677aa898f256221a6
leg_rear_margin
namespacefootstep__visualizer.html
a34cb027d292d204629884c085c5d2d58
lleg_cop_msg
namespacefootstep__visualizer.html
aca2e2a92cdcdc2a38dbd31a990021ce3
lleg_end_coords
namespacefootstep__visualizer.html
a2c222cf9b27b8b723f43dbf96933b56d
list
lleg_margined_vertices
namespacefootstep__visualizer.html
a0a686e44000b44917bdba34ffef40a03
lleg_sub
namespacefootstep__visualizer.html
ac182819737bffb6cbc4a3af2682c4279
list
lleg_vertices
namespacefootstep__visualizer.html
a40b6651de893a21d5fd71abc6bd65a71
msg_lock
namespacefootstep__visualizer.html
ac37b20b5789ec4f4115780909c441efc
pub
namespacefootstep__visualizer.html
a1dd817d2f8b202944ea2e619860b04b0
ref_cp_msg
namespacefootstep__visualizer.html
a55f923912f9f93f76917fe613cb84816
ref_cp_point_sub
namespacefootstep__visualizer.html
a12e71d7428170b6d7af7a60bad5419c7
rleg_cop_msg
namespacefootstep__visualizer.html
ab41b546283bd9ae33c94ef9334a0f181
rleg_end_coords
namespacefootstep__visualizer.html
ab3b1f0263d2fd35512590bc687da8ad4
list
rleg_margined_vertices
namespacefootstep__visualizer.html
ac14659d54b54402163edf4a464122f93
rleg_sub
namespacefootstep__visualizer.html
a9c9f0b04205ffa1b62058fb772348252
list
rleg_vertices
namespacefootstep__visualizer.html
a5e8fcba6fe3ada1d7634ebdae92cd7b4
root_link
namespacefootstep__visualizer.html
aa3d7acd5832cd2930ce4c0074451fbbd
scale
namespacefootstep__visualizer.html
aaa05fe5cebb6fae07c880aca1a4797c7
srv
namespacefootstep__visualizer.html
a7a0f1a5b440270098a9b0b6023ec8249
tf_buffer
namespacefootstep__visualizer.html
a7b3317f7c5d671decdb4ff53ef267c88
tf_listener
namespacefootstep__visualizer.html
adfeb385fdf96b783e35d45ac7523cfde
zmp_msg
namespacefootstep__visualizer.html
a7cdc87f745850f4f54c51ac7ff4b4d8a
zmp_sub
namespacefootstep__visualizer.html
a58be5e5da208e727a156cbc76d1b2d60
stabilizer_watcher.py
/tmp/ws/src/jsk_control/jsk_footstep_controller/scripts/
stabilizer__watcher_8py
stabilizer_watcher
def
contactStatesCallback
namespacestabilizer__watcher.html
aab76d7d476e58a463ea514f663c58c6c
(msg)
def
controllerModeToString
namespacestabilizer__watcher.html
a5c3e50f537b46294adff177af0cb8920
(msg)
def
isChangedControllerMode
namespacestabilizer__watcher.html
a7bdff72a60f3660bc4ed9b7878ba1bc1
(actual_from, actual_to, expected_from, expected_to)
def
motorStatesCallback
namespacestabilizer__watcher.html
a2536dc651f9ab9de4f2444f8ce44c8ca
(msg)
def
trig
namespacestabilizer__watcher.html
abb55b2010211e60ba3fe1e4981542296
()
contact_states_sub
namespacestabilizer__watcher.html
a8924fe21e5661bc58b8edabc48b35287
g_odom_init_trigger_pub
namespacestabilizer__watcher.html
ab4a2f0a3e2256eb86e184ee72df371cb
g_previous_st_controller_mode
namespacestabilizer__watcher.html
a4b914de51cc33a310c5ec859605287a4
g_robotsound_pub
namespacestabilizer__watcher.html
a99d33acb046ab84d464bfab2828f8916
bool
is_servo_on
namespacestabilizer__watcher.html
adfe415b4fa33a5ff03bf558293351f73
motor_states_sub
namespacestabilizer__watcher.html
ac87df5f436c22b7dafa4633ce01c0847
stance_phase.py
/tmp/ws/src/jsk_control/jsk_footstep_controller/scripts/
stance__phase_8py
stance_phase
def
callback
namespacestance__phase.html
a6999a67fea9771b10583a2c65c0409b8
(msg)
def
main
namespacestance__phase.html
ab7cd4512345238e8782bdabb2e89a6ea
()
test_footstep_controller.py
/tmp/ws/src/jsk_control/jsk_footstep_controller/test/
test__footstep__controller_8py
test_footstep_controller
def
backSteps
namespacetest__footstep__controller.html
a61201513b0b520fa4f3b10f16fff04ac
()
def
currentSpot
namespacetest__footstep__controller.html
ac1830fa3f931d5ca31b4379f3c7b90ed
()
def
getCurrentLeftLeg
namespacetest__footstep__controller.html
aaa57538afa0f598c6e971f54aa1ea762
()
def
matToMsg
namespacetest__footstep__controller.html
a33e2e6caa6881f30f2815103d8d97e16
(mat)
def
msgToMat
namespacetest__footstep__controller.html
afb85c1461163ec123901f0e34c7b3447
(pose)
def
oneFootstep
namespacetest__footstep__controller.html
aeff45f9a8052e52a2b592ce965c2e2b4
(origin, leg, x=0, y=0, z=0, roll=0, pitch=0, yaw=0)
def
sendFootstep
namespacetest__footstep__controller.html
a4a1591b1536ab9d5395406b3c4641320
(footstep)
def
slopeDown
namespacetest__footstep__controller.html
a2de6e45742ad39c6b5ff8357922f8fe3
()
def
slopeUp
namespacetest__footstep__controller.html
ab4eab7c70b8c239c5916b5194d0bc425
()
def
stairDown
namespacetest__footstep__controller.html
ab5881338ffd56d27913110f63cf0e329
()
def
stairUp
namespacetest__footstep__controller.html
a3b380807fc02b9a3dfab03e6330bb504
()
def
straightSteps
namespacetest__footstep__controller.html
a05d0fdd44273507d406938e8e412d2f2
()
def
transRotToMat
namespacetest__footstep__controller.html
a92c679f73de643f43359a7a14a1b8d39
(trans, rot)
client
namespacetest__footstep__controller.html
a3d731a74fd02864a30e0bd26d77c3c1e
pub_footsteps
namespacetest__footstep__controller.html
a16856e2639e1140f896984f580a844bb
tf_listener
namespacetest__footstep__controller.html
a6ed70ac98a7c877fe311aeceb5579569
jsk_footstep_controller::Footcoords
classjsk__footstep__controller_1_1Footcoords.html
AIR
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9cea04a9ff9268128c8ded0c87f975dff4c9
BOTH_GROUND
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9cea9d00a60077b73cea6b849a919df38f49
INITIALIZING
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72a455e3b0171c8f1dd7db4fa9f753cb1bb
LLEG_GROUND
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9cea47704e9bb69fc2da7eb7b554fd33455b
LLEG_SUPPORT
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72ab224270c2d8fe1a5628804db8879b7da
message_filters::sync_policies::ExactTime< nav_msgs::Odometry, sensor_msgs::Imu >
OdomImuSyncPolicy
classjsk__footstep__controller_1_1Footcoords.html
aa8b99ef4fa4a86571f0cb5fdd38bf722
OdomStatus
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72
UNINITIALIZED
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72a5c19be51720d109308c3f462d3dc2df3
INITIALIZING
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72a455e3b0171c8f1dd7db4fa9f753cb1bb
LLEG_SUPPORT
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72ab224270c2d8fe1a5628804db8879b7da
RLEG_SUPPORT
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72a1989160b149b30dfaf554f13afc3bd3e
RLEG_GROUND
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9cea49c8e77f72f66b4a614965f045814d58
RLEG_SUPPORT
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72a1989160b149b30dfaf554f13afc3bd3e
SupportLegStatus
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9ce
LLEG_GROUND
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9cea47704e9bb69fc2da7eb7b554fd33455b
RLEG_GROUND
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9cea49c8e77f72f66b4a614965f045814d58
AIR
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9cea04a9ff9268128c8ded0c87f975dff4c9
BOTH_GROUND
classjsk__footstep__controller_1_1Footcoords.html
ab1f571a982f91408484d6b7ba078e9cea9d00a60077b73cea6b849a919df38f49
message_filters::sync_policies::ExactTime< geometry_msgs::WrenchStamped, geometry_msgs::WrenchStamped, sensor_msgs::JointState, geometry_msgs::PointStamped >
SyncPolicy
classjsk__footstep__controller_1_1Footcoords.html
a7acd8a2b93382d39dded91b2f580213e
UNINITIALIZED
classjsk__footstep__controller_1_1Footcoords.html
aa58e9872d531c057fc3ca36da3c42a72a5c19be51720d109308c3f462d3dc2df3
Footcoords
classjsk__footstep__controller_1_1Footcoords.html
ab2d9218239018a2c6631e072b3647038
()
virtual
~Footcoords
classjsk__footstep__controller_1_1Footcoords.html
a09d499a73ec6874362f52cca4469b500
()
virtual bool
allValueLargerThan
classjsk__footstep__controller_1_1Footcoords.html
aad7ec6e1fd477dc1915c506da713a389
(TimeStampedVector< ValueStamped::Ptr > &values, double threshold)
virtual bool
allValueSmallerThan
classjsk__footstep__controller_1_1Footcoords.html
ae938a3d47fca9e69ae59d717be94ba7d
(TimeStampedVector< ValueStamped::Ptr > &values, double threshold)
virtual double
applyLowPassFilter
classjsk__footstep__controller_1_1Footcoords.html
aed130169303734dd7899560da696145e
(double current_val, double prev_val) const
virtual bool
computeMidCoords
classjsk__footstep__controller_1_1Footcoords.html
a21ecaa77fa6e815070d7c007c7ff5e91
(const ros::Time &stamp)
virtual bool
computeMidCoordsFromSingleLeg
classjsk__footstep__controller_1_1Footcoords.html
a8e0c8cd6f08b91776f15a40fbbbd7693
(const ros::Time &stamp, bool use_left_leg)
virtual void
computeVelicity
classjsk__footstep__controller_1_1Footcoords.html
ae6b0458dcfa46919b0dcb69a22296ed8
(double dt, std::map< std::string, double > &joint_angles, KDL::Chain &chain, geometry_msgs::Twist &output)
virtual void
estimateOdometry
classjsk__footstep__controller_1_1Footcoords.html
a8daa14574ae438a9348b48cfb3578292
()
virtual void
estimateOdometryMainSupportLeg
classjsk__footstep__controller_1_1Footcoords.html
a9e76c93e58e1672d4dd089ba99b066d6
()
virtual void
estimateOdometryNaive
classjsk__footstep__controller_1_1Footcoords.html
a04e61dce9472e0e0623bf435662d33f1
()
virtual void
estimateOdometryZMPSupportLeg
classjsk__footstep__controller_1_1Footcoords.html
aafa7f5f9feb1b7c81397dc154ff9ba45
()
virtual void
estimateVelocity
classjsk__footstep__controller_1_1Footcoords.html
affd415be39c25cffaaca5252848f483a
(const ros::Time &stamp, std::map< std::string, double > &joint_angles)
virtual void
filter
classjsk__footstep__controller_1_1Footcoords.html
a36d54bf650b7ea160b47b386cb1837d4
(const jsk_footstep_controller::SynchronizedForces::ConstPtr &msg)
virtual void
floorCoeffsCallback
classjsk__footstep__controller_1_1Footcoords.html
a36da4e473ea37955733618a2b4b4f57d
(const pcl_msgs::ModelCoefficients &coeffs)
virtual void
getRollPitch
classjsk__footstep__controller_1_1Footcoords.html
a74ab5d5c7c12682b1bd8a9d12c8f89c4
(const Eigen::Affine3d &pose, float &roll, float &pitch)
virtual float
getYaw
classjsk__footstep__controller_1_1Footcoords.html
ae8e5fc519c648e553aaa5c8ad7e623ef
(const Eigen::Affine3d &pose)
virtual void
odomImuCallback
classjsk__footstep__controller_1_1Footcoords.html
a223d61a0e229d4b567ebaf20ca15a44d
(const nav_msgs::Odometry::ConstPtr &odom_msg, const sensor_msgs::Imu::ConstPtr &imu_msg)
virtual void
odomInitTriggerCallback
classjsk__footstep__controller_1_1Footcoords.html
a9efd14704926cf1a7e4b2411c049d096
(const std_msgs::Empty &trigger)
virtual void
periodicTimerCallback
classjsk__footstep__controller_1_1Footcoords.html
ac550abf677d3ce53aad6a2cd48673134
(const ros::TimerEvent &event)
virtual void
publishContactState
classjsk__footstep__controller_1_1Footcoords.html
aee1fecd82e9c6ab84f28824e79f15ed5
(const ros::Time &stamp)
virtual void
publishState
classjsk__footstep__controller_1_1Footcoords.html
a743611f7902327e72dda6ce3c343c4dd
(const std::string &state)
virtual void
publishTF
classjsk__footstep__controller_1_1Footcoords.html
a196624902cf2a62cc8edfcba30f5d5db
(const ros::Time &stamp)
virtual bool
resolveForceTf
classjsk__footstep__controller_1_1Footcoords.html
ab6c07ba9f4b3d7c6e84397a2477a3d2c
(const geometry_msgs::WrenchStamped &lfoot, const geometry_msgs::WrenchStamped &rfoot, tf::Vector3 &lfoot_force, tf::Vector3 &rfoot_force)
virtual void
synchronizeForces
classjsk__footstep__controller_1_1Footcoords.html
ae54e16e0150077bb4d5cf864f4e4fa47
(const geometry_msgs::WrenchStamped::ConstPtr &lfoot, const geometry_msgs::WrenchStamped::ConstPtr &rfoot, const sensor_msgs::JointState::ConstPtr &joint_states, const geometry_msgs::PointStamped::ConstPtr &zmp)
virtual void
updateChain
classjsk__footstep__controller_1_1Footcoords.html
a1b7588bef65bc9988ba19bf544a9149b
(std::map< std::string, double > &joint_angles, KDL::Chain &chain, tf::Pose &output_pose)
virtual bool
updateGroundTF
classjsk__footstep__controller_1_1Footcoords.html
aca363933308b812319c9116d25509254
()
virtual void
updateLegDiagnostics
classjsk__footstep__controller_1_1Footcoords.html
a01633f57804347b208466da3c38f160e
(diagnostic_updater::DiagnosticStatusWrapper &stat)
virtual void
updateRobotModel
classjsk__footstep__controller_1_1Footcoords.html
ae54e60d9c519258e98badd14eaf3e28e
(std::map< std::string, double > &joint_angles)
virtual bool
waitForEndEffectorTransformation
classjsk__footstep__controller_1_1Footcoords.html
af46084075368e07d933e94ee0fad7b55
(const ros::Time &stamp)
virtual bool
waitForSensorFrameTransformation
classjsk__footstep__controller_1_1Footcoords.html
ad5f319e8fed85d6901b0d7a57bd5ab63
(const ros::Time &lstamp, const ros::Time &rstamp, const std::string &lsensor_frame, const std::string &rsensor_frame)
double
alpha_
classjsk__footstep__controller_1_1Footcoords.html
a5a58259cf17fe8c93f052c718a4898dd
bool
before_on_the_air_
classjsk__footstep__controller_1_1Footcoords.html
ac03080f209d7bfe207781f020c215e0c
std::string
body_on_odom_frame_
classjsk__footstep__controller_1_1Footcoords.html
a410857fe96e1d12f399c640b2052c146
boost::shared_ptr< diagnostic_updater::Updater >
diagnostic_updater_
classjsk__footstep__controller_1_1Footcoords.html
ab8166d78e5ea613c58c5bfd9b2ec79d9
tf::Pose
estimated_odom_pose_
classjsk__footstep__controller_1_1Footcoords.html
a40c3d50971dbf98826a7ab2035712442
std::vector< float >
floor_coeffs_
classjsk__footstep__controller_1_1Footcoords.html
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ros::Subscriber
floor_coeffs_sub_
classjsk__footstep__controller_1_1Footcoords.html
a93e73ce9fbe07b51da663652b2c90d36
double
force_thr_
classjsk__footstep__controller_1_1Footcoords.html
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tf::Transform
ground_transform_
classjsk__footstep__controller_1_1Footcoords.html
a361044370ffd04af1acdec551a383c98
message_filters::Subscriber< sensor_msgs::Imu >
imu_sub_
classjsk__footstep__controller_1_1Footcoords.html
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bool
invert_odom_init_
classjsk__footstep__controller_1_1Footcoords.html
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ros::Time
last_time_
classjsk__footstep__controller_1_1Footcoords.html
a0980e79b140f07c39c4a3962af899ea8
KDL::Chain
lfoot_chain_
classjsk__footstep__controller_1_1Footcoords.html
a44dcb4208563e9285237925fc4bb9ac9
std::string
lfoot_frame_id_
classjsk__footstep__controller_1_1Footcoords.html
aa81b13181aae78c7971ec7ca6291fe0d
tf::Pose
lfoot_pose_
classjsk__footstep__controller_1_1Footcoords.html
a8da91bd7944b1af0d7822f7a1d69a2ad
std::string
lfoot_sensor_frame_
classjsk__footstep__controller_1_1Footcoords.html
af8331202be5c87b6e9841d0123536732
tf::Pose
lfoot_to_origin_pose_
classjsk__footstep__controller_1_1Footcoords.html
a93bfb252db64da889179fa784d59974c
tf::Transform
locked_midcoords_to_odom_on_ground_
classjsk__footstep__controller_1_1Footcoords.html
aa68de7527bd16505a0d320ee098134ed
tf::Transform
midcoords_
classjsk__footstep__controller_1_1Footcoords.html
ad8dd063e7aae53c8c7cd17bd381eba33
std::string
midcoords_frame_id_
classjsk__footstep__controller_1_1Footcoords.html
a11f906b96c53a74eefd11e6f9595b185
boost::mutex
mutex_
classjsk__footstep__controller_1_1Footcoords.html
a9aca0e497ac482783e8857e7251cc103
boost::shared_ptr< message_filters::Synchronizer< OdomImuSyncPolicy > >
odom_imu_sync_
classjsk__footstep__controller_1_1Footcoords.html
a613e7ecbeda2d1cc97bbf23acd6a8be4
std::string
odom_init_frame_id_
classjsk__footstep__controller_1_1Footcoords.html
a3660a4a72240b877b13ef30350b378df
Eigen::Affine3d
odom_init_pose_
classjsk__footstep__controller_1_1Footcoords.html
aa05eb4cfe950d5094f65af6020b47d41
ros::Subscriber
odom_init_trigger_sub_
classjsk__footstep__controller_1_1Footcoords.html
a897acd1d46f0939bdda0c3bb5dc64f00
Eigen::Affine3d
odom_pose_
classjsk__footstep__controller_1_1Footcoords.html
a23c9dc4f93007287385d08bbed5539ba
OdomStatus
odom_status_
classjsk__footstep__controller_1_1Footcoords.html
adef3559eb7f5ab943b027f0961079ed1
message_filters::Subscriber< nav_msgs::Odometry >
odom_sub_
classjsk__footstep__controller_1_1Footcoords.html
a19db8b668978a7d9f9db54fc4b703c6b
std::string
output_frame_id_
classjsk__footstep__controller_1_1Footcoords.html
aae16e21c6dc7025cfa160dae4e947770
std::string
parent_frame_id_
classjsk__footstep__controller_1_1Footcoords.html
a59f1ee9154a2d3a1623abd6a4ae13a38
ros::Timer
periodic_update_timer_
classjsk__footstep__controller_1_1Footcoords.html
a7807e1f49bcbc0b069ff20c35d07e075
std::map< std::string, double >
prev_joints_
classjsk__footstep__controller_1_1Footcoords.html
a56cf618d580dc41962845b8636d59b23
double
prev_lforce_
classjsk__footstep__controller_1_1Footcoords.html
a7f650c8bce316b4969e9ca53d5149024
double
prev_rforce_
classjsk__footstep__controller_1_1Footcoords.html
aaae694276778851109878a618185ef6b
ros::Publisher
pub_contact_state_
classjsk__footstep__controller_1_1Footcoords.html
aa48cc902e52b33fdac8b9f57b67db2dc
ros::Publisher
pub_debug_lfoot_pos_
classjsk__footstep__controller_1_1Footcoords.html
a57c3ba68e114195dd0e26eeb63b8cbbb
ros::Publisher
pub_debug_rfoot_pos_
classjsk__footstep__controller_1_1Footcoords.html
aa5e035bd985d8439f8a44b8eaad2c63f
ros::Publisher
pub_leg_odometory_
classjsk__footstep__controller_1_1Footcoords.html
aeaab82fbe1151f94790f223a2df83752
ros::Publisher
pub_low_level_
classjsk__footstep__controller_1_1Footcoords.html
a73fdaedffd70f0a30d46b0a05ae2ff70
ros::Publisher
pub_odom_init_pose_stamped_
classjsk__footstep__controller_1_1Footcoords.html
a2a2d9e0bd10ef5625f6b80c4203a5936
ros::Publisher
pub_odom_init_transform_
classjsk__footstep__controller_1_1Footcoords.html
a64a4453da57ceb951a1e77e565e866de
ros::Publisher
pub_state_
classjsk__footstep__controller_1_1Footcoords.html
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ros::Publisher
pub_synchronized_forces_
classjsk__footstep__controller_1_1Footcoords.html
a7363e8fdcd84834848525cc2de7cc168
ros::Publisher
pub_twist_
classjsk__footstep__controller_1_1Footcoords.html
a7c6c0f7459033fc164435c3393094e48
bool
publish_odom_tf_
classjsk__footstep__controller_1_1Footcoords.html
aa9443550f6a0aa5a05ef908c5ef947e0
KDL::Chain
rfoot_chain_
classjsk__footstep__controller_1_1Footcoords.html
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std::string
rfoot_frame_id_
classjsk__footstep__controller_1_1Footcoords.html
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tf::Pose
rfoot_pose_
classjsk__footstep__controller_1_1Footcoords.html
a2efd7c927f00c7698493d29acb2d7cb9
std::string
rfoot_sensor_frame_
classjsk__footstep__controller_1_1Footcoords.html
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tf::Pose
rfoot_to_origin_pose_
classjsk__footstep__controller_1_1Footcoords.html
a08288573566e4962027cfda7ea63f309
std::string
root_frame_id_
classjsk__footstep__controller_1_1Footcoords.html
a342d133c907eb0ce3f72cbeb565ec9bf
tf::Transform
root_link_pose_
classjsk__footstep__controller_1_1Footcoords.html
a4db27ae0dafe688f1feda6d406cde51f
double
sampling_time_
classjsk__footstep__controller_1_1Footcoords.html
a3de73a92b7b3e74b5ed981168648dc2b
message_filters::Subscriber< sensor_msgs::JointState >
sub_joint_states_
classjsk__footstep__controller_1_1Footcoords.html
a50b4de0ff7c08991e9fe95342a2baacb
message_filters::Subscriber< geometry_msgs::WrenchStamped >
sub_lfoot_force_
classjsk__footstep__controller_1_1Footcoords.html
a8e46353cf632e44d3a210b655a5cb033
message_filters::Subscriber< geometry_msgs::WrenchStamped >
sub_rfoot_force_
classjsk__footstep__controller_1_1Footcoords.html
a2091bece9d71dbcfb0004df412bc94b4
message_filters::Subscriber< geometry_msgs::PointStamped >
sub_zmp_
classjsk__footstep__controller_1_1Footcoords.html
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SupportLegStatus
support_status_
classjsk__footstep__controller_1_1Footcoords.html
a8b1c514d074264717be4d0ef52aa5fc6
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > >
sync_
classjsk__footstep__controller_1_1Footcoords.html
a3d3e37fe0ec738cd58f742af37c6a6d0
ros::Subscriber
synchronized_forces_sub_
classjsk__footstep__controller_1_1Footcoords.html
a288560ffeb741881b25858f15bf92823
tf::TransformBroadcaster
tf_broadcaster_
classjsk__footstep__controller_1_1Footcoords.html
a563a2c9811a320ff7f71ff137ccbbea5
boost::shared_ptr< tf::TransformListener >
tf_listener_
classjsk__footstep__controller_1_1Footcoords.html
a886539da688fc97f6a10479c9d80f4b4
bool
use_imu_
classjsk__footstep__controller_1_1Footcoords.html
a90c8b49d80f38ab6044d84dedc3c0e77
bool
use_imu_yaw_
classjsk__footstep__controller_1_1Footcoords.html
ab46324b34fb67a27d25cf5cb7e39c9fb
Eigen::Vector3f
zmp_
classjsk__footstep__controller_1_1Footcoords.html
aa0a5ae3bc97cf5d02f716e15751592e4
std::string
zmp_frame_id_
classjsk__footstep__controller_1_1Footcoords.html
a9161402d48c9da9498388dc4439142e7
jsk_footstep_controller::TimeStampedVector
classjsk__footstep__controller_1_1TimeStampedVector.html
T
std::vector< T >::iterator
iterator
classjsk__footstep__controller_1_1TimeStampedVector.html
a40b3575d2573b749f01ff659100a2959
void
removeBefore
classjsk__footstep__controller_1_1TimeStampedVector.html
a22e84b4d65719750cced5368ea9fa8d9
(const ros::Time &stamp)
jsk_footstep_controller::ValueStamped
classjsk__footstep__controller_1_1ValueStamped.html
boost::shared_ptr< ValueStamped >
Ptr
classjsk__footstep__controller_1_1ValueStamped.html
ad5a7af45dac95822fae28b1caa248b4f
ValueStamped
classjsk__footstep__controller_1_1ValueStamped.html
a17160e4a55cedfbe4ffe23d382eafed1
(const std_msgs::Header &aheader, double avalue)
ValueStamped
classjsk__footstep__controller_1_1ValueStamped.html
a6cdc5f5bdbcb96c0d7809cceadec608a
()
std_msgs::Header
header
classjsk__footstep__controller_1_1ValueStamped.html
a86981ed6125945eb6c6d8b2e28388b8d
double
value
classjsk__footstep__controller_1_1ValueStamped.html
a5af9df0c722ae7a87c5dcdee94f2ea5f
contact_state_error
namespacecontact__state__error.html
def
callback
namespacecontact__state__error.html
a5030d41a390e36f9320b15fe03bd0078
(msg)
def
main
namespacecontact__state__error.html
aa07764607e9c77a4f3ca9e32231d1f79
()
list
data_pitch
namespacecontact__state__error.html
aef4f8df2c967c3c9d125d96d19a4d221
list
data_roll
namespacecontact__state__error.html
a155ec58da9281d588eef24be9507360e
list
data_z
namespacecontact__state__error.html
a56f7bccb464062b0e6497ff2990ca314
dump_mocap
namespacedump__mocap.html
def
callback
namespacedump__mocap.html
a8679025e4d8df4ded0bb3d340fa56b16
(msg)
def
poseMsgToMatrix
namespacedump__mocap.html
af3a67b3622a9d5bff20c9856a689d57f
(pose)
f
namespacedump__mocap.html
adb369e0889b233b878e84d40cc05de5e
file_name
namespacedump__mocap.html
a43cdd7207d944c6bc1325fd68ac58abf
initial_pose
namespacedump__mocap.html
a5b7e59f225585b35ac3be3dd17bc2063
sub
namespacedump__mocap.html
a1b9302564380237a52af2d07d55645b1
tf_listener
namespacedump__mocap.html
a6ba91016c7c0a16ffb6066532e000814
world_pose
namespacedump__mocap.html
a5ceab0ca5996b8ff5bcc8f35f92a542f
foot_contact_monitor
namespacefoot__contact__monitor.html
def
contactGroundCallback
namespacefoot__contact__monitor.html
a8f8fc4c4f5c688d43de1fcd64b8e6f69
(msg)
def
main
namespacefoot__contact__monitor.html
ac7112a3af6630e4041ce00eca31bf657
()
def
requireMonitorCallback
namespacefoot__contact__monitor.html
a3ddbd252797e8fc6c8cbae69d49e81c7
(req)
g_contact_state
namespacefoot__contact__monitor.html
a9f575893bdaee6783123a1af7ebe686b
g_lock
namespacefoot__contact__monitor.html
a8670452d26e9e0515abf67eb6100b081
footstep_visualizer
namespacefootstep__visualizer.html
def
actCPCallback
namespacefootstep__visualizer.html
aac2fc9f2baf3e97a50615dac8754461f
(msg)
def
config_callback
namespacefootstep__visualizer.html
a881a9e9b7c60b3262c1c291f966b6947
(config, level)
def
contactStatesCallback
namespacefootstep__visualizer.html
ade357ba9eb1de051cb41a5294dc36228
(msg)
def
drawPoint
namespacefootstep__visualizer.html
a53bbcf9362c1930bd413d0ca7d143f7d
(image, point, size, color, text)
def
llegCopCallback
namespacefootstep__visualizer.html
a3a3ebe98061be054e634c78ed15bb0a1
(msg)
def
matrixFromTranslationQuaternion
namespacefootstep__visualizer.html
a460577a60af9681fe807c228eb4792bc
(trans, q)
def
periodicCallback
namespacefootstep__visualizer.html
a7f71a7280d787a9787b6f0fc73b48b9f
(event)
def
refCPCallback
namespacefootstep__visualizer.html
a927a8eda210b86c3d3247568dd16a9b0
(msg)
def
rlegCopCallback
namespacefootstep__visualizer.html
a6fd211a65b4761c5accf639dee884d97
(msg)
def
transformToMatrix
namespacefootstep__visualizer.html
a8a2ec11f5677205b77f659f81a7ffb92
(transform)
def
verticesPoints
namespacefootstep__visualizer.html
afb843e226b9c74cd2fbf4b855eea9402
(original_vertices, origin_pose, scale, resolution_size)
def
verticesPoints3D
namespacefootstep__visualizer.html
ae00cbe4a3ad211abf45ba03bd26fe436
(original_vertices, origin_pose, scale, resolution_size)
def
zmpCallback
namespacefootstep__visualizer.html
ae6c4e47abf0db0be66ebd83332606641
(msg)
act_contact_states_msg
namespacefootstep__visualizer.html
a44d7125ee009136bab1de37ce0d59be6
act_cp_msg
namespacefootstep__visualizer.html
a732b76fcefdbeb2af5ab974b67fedf04
act_cp_point_sub
namespacefootstep__visualizer.html
a1e90ce21cfc78fd09090602cf51b005d
contact_states_sub
namespacefootstep__visualizer.html
aaad6e3ef8668db859de9035185025ea5
cp_check_margin
namespacefootstep__visualizer.html
a3fa62fac27700af77a78968560fbbbc7
g_get_parameter_srv
namespacefootstep__visualizer.html
ab8f37489166ec5c4568abe1fc9d92919
i_param
namespacefootstep__visualizer.html
a98929df7ab0a0026724de2b302702bdf
image_size
namespacefootstep__visualizer.html
a9ade26c0d4e4d3f26d2a72e34bd8254f
leg_front_margin
namespacefootstep__visualizer.html
ad0e088099f3fdc488712d947525e051d
leg_inside_margin
namespacefootstep__visualizer.html
aa61cc5517af2c3c91b1712d6436b3dba
leg_outside_margin
namespacefootstep__visualizer.html
aca584cc4ff4d0f2677aa898f256221a6
leg_rear_margin
namespacefootstep__visualizer.html
a34cb027d292d204629884c085c5d2d58
lleg_cop_msg
namespacefootstep__visualizer.html
aca2e2a92cdcdc2a38dbd31a990021ce3
lleg_end_coords
namespacefootstep__visualizer.html
a2c222cf9b27b8b723f43dbf96933b56d
list
lleg_margined_vertices
namespacefootstep__visualizer.html
a0a686e44000b44917bdba34ffef40a03
lleg_sub
namespacefootstep__visualizer.html
ac182819737bffb6cbc4a3af2682c4279
list
lleg_vertices
namespacefootstep__visualizer.html
a40b6651de893a21d5fd71abc6bd65a71
msg_lock
namespacefootstep__visualizer.html
ac37b20b5789ec4f4115780909c441efc
pub
namespacefootstep__visualizer.html
a1dd817d2f8b202944ea2e619860b04b0
ref_cp_msg
namespacefootstep__visualizer.html
a55f923912f9f93f76917fe613cb84816
ref_cp_point_sub
namespacefootstep__visualizer.html
a12e71d7428170b6d7af7a60bad5419c7
rleg_cop_msg
namespacefootstep__visualizer.html
ab41b546283bd9ae33c94ef9334a0f181
rleg_end_coords
namespacefootstep__visualizer.html
ab3b1f0263d2fd35512590bc687da8ad4
list
rleg_margined_vertices
namespacefootstep__visualizer.html
ac14659d54b54402163edf4a464122f93
rleg_sub
namespacefootstep__visualizer.html
a9c9f0b04205ffa1b62058fb772348252
list
rleg_vertices
namespacefootstep__visualizer.html
a5e8fcba6fe3ada1d7634ebdae92cd7b4
root_link
namespacefootstep__visualizer.html
aa3d7acd5832cd2930ce4c0074451fbbd
scale
namespacefootstep__visualizer.html
aaa05fe5cebb6fae07c880aca1a4797c7
srv
namespacefootstep__visualizer.html
a7a0f1a5b440270098a9b0b6023ec8249
tf_buffer
namespacefootstep__visualizer.html
a7b3317f7c5d671decdb4ff53ef267c88
tf_listener
namespacefootstep__visualizer.html
adfeb385fdf96b783e35d45ac7523cfde
zmp_msg
namespacefootstep__visualizer.html
a7cdc87f745850f4f54c51ac7ff4b4d8a
zmp_sub
namespacefootstep__visualizer.html
a58be5e5da208e727a156cbc76d1b2d60
jsk_footstep_controller
namespacejsk__footstep__controller.html
jsk_footstep_controller::Footcoords
jsk_footstep_controller::TimeStampedVector
jsk_footstep_controller::ValueStamped
stabilizer_watcher
namespacestabilizer__watcher.html
def
contactStatesCallback
namespacestabilizer__watcher.html
aab76d7d476e58a463ea514f663c58c6c
(msg)
def
controllerModeToString
namespacestabilizer__watcher.html
a5c3e50f537b46294adff177af0cb8920
(msg)
def
isChangedControllerMode
namespacestabilizer__watcher.html
a7bdff72a60f3660bc4ed9b7878ba1bc1
(actual_from, actual_to, expected_from, expected_to)
def
motorStatesCallback
namespacestabilizer__watcher.html
a2536dc651f9ab9de4f2444f8ce44c8ca
(msg)
def
trig
namespacestabilizer__watcher.html
abb55b2010211e60ba3fe1e4981542296
()
contact_states_sub
namespacestabilizer__watcher.html
a8924fe21e5661bc58b8edabc48b35287
g_odom_init_trigger_pub
namespacestabilizer__watcher.html
ab4a2f0a3e2256eb86e184ee72df371cb
g_previous_st_controller_mode
namespacestabilizer__watcher.html
a4b914de51cc33a310c5ec859605287a4
g_robotsound_pub
namespacestabilizer__watcher.html
a99d33acb046ab84d464bfab2828f8916
bool
is_servo_on
namespacestabilizer__watcher.html
adfe415b4fa33a5ff03bf558293351f73
motor_states_sub
namespacestabilizer__watcher.html
ac87df5f436c22b7dafa4633ce01c0847
stance_phase
namespacestance__phase.html
def
callback
namespacestance__phase.html
a6999a67fea9771b10583a2c65c0409b8
(msg)
def
main
namespacestance__phase.html
ab7cd4512345238e8782bdabb2e89a6ea
()
test_footstep_controller
namespacetest__footstep__controller.html
def
backSteps
namespacetest__footstep__controller.html
a61201513b0b520fa4f3b10f16fff04ac
()
def
currentSpot
namespacetest__footstep__controller.html
ac1830fa3f931d5ca31b4379f3c7b90ed
()
def
getCurrentLeftLeg
namespacetest__footstep__controller.html
aaa57538afa0f598c6e971f54aa1ea762
()
def
matToMsg
namespacetest__footstep__controller.html
a33e2e6caa6881f30f2815103d8d97e16
(mat)
def
msgToMat
namespacetest__footstep__controller.html
afb85c1461163ec123901f0e34c7b3447
(pose)
def
oneFootstep
namespacetest__footstep__controller.html
aeff45f9a8052e52a2b592ce965c2e2b4
(origin, leg, x=0, y=0, z=0, roll=0, pitch=0, yaw=0)
def
sendFootstep
namespacetest__footstep__controller.html
a4a1591b1536ab9d5395406b3c4641320
(footstep)
def
slopeDown
namespacetest__footstep__controller.html
a2de6e45742ad39c6b5ff8357922f8fe3
()
def
slopeUp
namespacetest__footstep__controller.html
ab4eab7c70b8c239c5916b5194d0bc425
()
def
stairDown
namespacetest__footstep__controller.html
ab5881338ffd56d27913110f63cf0e329
()
def
stairUp
namespacetest__footstep__controller.html
a3b380807fc02b9a3dfab03e6330bb504
()
def
straightSteps
namespacetest__footstep__controller.html
a05d0fdd44273507d406938e8e412d2f2
()
def
transRotToMat
namespacetest__footstep__controller.html
a92c679f73de643f43359a7a14a1b8d39
(trans, rot)
client
namespacetest__footstep__controller.html
a3d731a74fd02864a30e0bd26d77c3c1e
pub_footsteps
namespacetest__footstep__controller.html
a16856e2639e1140f896984f580a844bb
tf_listener
namespacetest__footstep__controller.html
a6ed70ac98a7c877fe311aeceb5579569