Produces the contact sequence for a variety of two-legged gaits. More...
#include <biped_gait_generator.h>
Public Member Functions | |
| BipedGaitGenerator () | |
| virtual | ~BipedGaitGenerator ()=default |
 Public Member Functions inherited from towr::GaitGenerator | |
| GaitGenerator ()=default | |
| VecTimes | GetPhaseDurations (double T, EE ee) const |
| bool | IsInContactAtStart (EE ee) const |
| void | SetGaits (const std::vector< Gaits > &gaits) |
| Sets the times_ and contacts_ variables according to the gaits. More... | |
| virtual | ~GaitGenerator ()=default |
Private Member Functions | |
| GaitInfo | GetGait (Gaits gait) const override |
| GaitInfo | GetStrideFlight () const |
| GaitInfo | GetStrideGallopHop () const |
| GaitInfo | GetStrideHop () const |
| GaitInfo | GetStrideLeftHop () const |
| GaitInfo | GetStrideRightHop () const |
| GaitInfo | GetStrideRun () const |
| GaitInfo | GetStrideStand () const |
| GaitInfo | GetStrideWalk () const |
| void | SetCombo (Combos combo) override |
| Sets a specific sequence of gaits. More... | |
Private Attributes | |
| ContactState | b_ |
| ContactState | B_ |
| ContactState | I_ |
| ContactState | P_ |
Additional Inherited Members | |
| Public Types inherited from towr::GaitGenerator | |
| enum | Combos { C0, C1, C2, C3, C4, COMBO_COUNT } |
| Predefined combinations of different strides. More... | |
| using | ContactState = std::vector< bool > |
| using | EE = uint |
| using | FootDurations = std::vector< VecTimes > |
| using | GaitInfo = std::pair< VecTimes, std::vector< ContactState >> |
| enum | Gaits { Stand =0, Flight, Walk1, Walk2, Walk2E, Run2, Run2E, Run1, Run1E, Run3, Run3E, Hop1, Hop1E, Hop2, Hop3, Hop3E, Hop5, Hop5E, GAIT_COUNT } |
| Predefined strides, each with a different gait diagram. More... | |
| using | Ptr = std::shared_ptr< GaitGenerator > |
| using | VecTimes = std::vector< double > |
| Static Public Member Functions inherited from towr::GaitGenerator | |
| static Ptr | MakeGaitGenerator (int leg_count) |
| Protected Member Functions inherited from towr::GaitGenerator | |
| GaitInfo | RemoveTransition (const GaitInfo &g) const |
| Protected Attributes inherited from towr::GaitGenerator | |
| std::vector< ContactState > | contacts_ |
| std::vector< double > | times_ |
| Phase times for the complete robot during which no contact state changes. More... | |
Detailed Description
Produces the contact sequence for a variety of two-legged gaits.
- See also
- GaitGenerator for more documentation
Definition at line 42 of file biped_gait_generator.h.
Constructor & Destructor Documentation
| towr::BipedGaitGenerator::BipedGaitGenerator | ( | ) |
Definition at line 39 of file biped_gait_generator.cc.
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virtualdefault |
Member Function Documentation
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overrideprivatevirtual |
Implements towr::GaitGenerator.
Definition at line 65 of file biped_gait_generator.cc.
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private |
Definition at line 98 of file biped_gait_generator.cc.
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Definition at line 170 of file biped_gait_generator.cc.
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Definition at line 152 of file biped_gait_generator.cc.
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Definition at line 191 of file biped_gait_generator.cc.
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Definition at line 210 of file biped_gait_generator.cc.
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Definition at line 132 of file biped_gait_generator.cc.
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Definition at line 83 of file biped_gait_generator.cc.
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Definition at line 113 of file biped_gait_generator.cc.
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overrideprivatevirtual |
Sets a specific sequence of gaits.
The derived class decides what each combo maps to. This function then fills the times_ and contacts_ variables accordingly.
Implements towr::GaitGenerator.
Definition at line 52 of file biped_gait_generator.cc.
Member Data Documentation
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private |
Definition at line 63 of file biped_gait_generator.h.
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Definition at line 65 of file biped_gait_generator.h.
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Definition at line 62 of file biped_gait_generator.h.
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Definition at line 64 of file biped_gait_generator.h.
The documentation for this class was generated from the following files: