#include <AutoBalancer.h>

Inheritance diagram for AutoBalancer:

Classes
struct	ABCIKparam

Public Member Functions
bool	adjustFootSteps (const OpenHRP::AutoBalancerService::Footstep &rfootstep, const OpenHRP::AutoBalancerService::Footstep &lfootstep)

	AutoBalancer (RTC::Manager *manager)

void	distributeReferenceZMPToWrenches (const hrp::Vector3 &_ref_zmp)

bool	emergencyStop ()

bool	getAutoBalancerParam (OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)

bool	getFootstepParam (OpenHRP::AutoBalancerService::FootstepParam &i_param)

bool	getGaitGeneratorParam (OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)

bool	getGoPosFootstepsSequence (const double &x, const double &y, const double &th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep)

bool	getRemainingFootstepSequence (OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep, CORBA::Long &o_current_fs_idx)

bool	goPos (const double &x, const double &y, const double &th)

bool	goStop ()

bool	goVelocity (const double &vx, const double &vy, const double &vth)

virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)

virtual RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)

virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)

virtual RTC::ReturnCode_t	onFinalize ()

virtual RTC::ReturnCode_t	onInitialize ()

bool	releaseEmergencyStop ()

bool	setAutoBalancerParam (const OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)

bool	setFootSteps (const OpenHRP::AutoBalancerService::FootstepSequence &fs, CORBA::Long overwrite_fs_idx)

bool	setFootSteps (const OpenHRP::AutoBalancerService::FootstepsSequence &fss, CORBA::Long overwrite_fs_idx)

bool	setFootStepsWithParam (const OpenHRP::AutoBalancerService::FootstepSequence &fs, const OpenHRP::AutoBalancerService::StepParamSequence &sps, CORBA::Long overwrite_fs_idx)

bool	setFootStepsWithParam (const OpenHRP::AutoBalancerService::FootstepsSequence &fss, const OpenHRP::AutoBalancerService::StepParamsSequence &spss, CORBA::Long overwrite_fs_idx)

bool	setGaitGeneratorParam (const OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)

bool	startAutoBalancer (const ::OpenHRP::AutoBalancerService::StrSequence &limbs)

bool	stopAutoBalancer ()

void	waitFootSteps ()

void	waitFootStepsEarly (const double tm)

virtual	~AutoBalancer ()

Public Member Functions inherited from RTC::DataFlowComponentBase
	DataFlowComponentBase (Manager *manager)

void	init ()

virtual	~DataFlowComponentBase (void)

Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t	activate (RTC::UniqueId ec_id)

void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)

ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))

void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)

ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))

void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)

ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))

void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)

ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))

bool	addInPort (const char *name, InPortBase &inport)

bool	addOutPort (const char *name, OutPortBase &outport)

bool	addPort (PortBase &port)

bool	addPort (PortService_ptr port)

bool	addPort (CorbaPort &port)

PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))

void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)

void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)

PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))

void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)

PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))

void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)

PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)

PreComponentActionListener *	addPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))

bool	addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)

bool	addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)

UniqueId	attach_context (ExecutionContext_ptr exec_context)

UniqueId	bindContext (ExecutionContext_ptr exec_context)

bool	bindParameter (const char param_name, VarType &var, const char def_val, bool(trans)(VarType &, const char )=coil::stringTo)

ReturnCode_t	deactivate (RTC::UniqueId ec_id)

void	deletePort (PortService_ptr port)

void	deletePort (CorbaPort &port)

void	deletePort (PortBase &port)

void	deletePortByName (const char *port_name)

ReturnCode_t	detach_context (UniqueId exec_handle)

virtual ReturnCode_t	exit ()

virtual ReturnCode_t	finalize ()

void	finalizeContexts ()

void	finalizePorts ()

virtual ComponentProfile *	get_component_profile ()

virtual SDOPackage::Configuration_ptr	get_configuration ()

virtual ExecutionContext_ptr	get_context (UniqueId exec_handle)

virtual ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt)

virtual SDOPackage::DeviceProfile *	get_device_profile ()

virtual SDOPackage::Monitoring_ptr	get_monitoring ()

virtual SDOPackage::OrganizationList *	get_organizations ()

virtual ExecutionContextList *	get_owned_contexts ()

virtual SDOPackage::OrganizationList *	get_owned_organizations ()

virtual ExecutionContextList *	get_participating_contexts ()

virtual PortServiceList *	get_ports ()

virtual char *	get_sdo_id ()

virtual SDOPackage::SDOService_ptr	get_sdo_service (const char *id)

virtual char *	get_sdo_type ()

virtual SDOPackage::ServiceProfile *	get_service_profile (const char *id)

virtual SDOPackage::ServiceProfileList *	get_service_profiles ()

virtual CORBA::Any *	get_status (const char *name)

virtual SDOPackage::NVList *	get_status_list ()

const char *	getCategory ()

const char *	getDescription ()

ExecutionContext_ptr	getExecutionContext (RTC::UniqueId ec_id)

double	getExecutionRate (RTC::UniqueId ec_id)

const char *	getInstanceName ()

std::vector< std::string >	getNamingNames ()

RTObject_ptr	getObjRef () const

coil::Properties &	getProperties ()

const char *	getTypeName ()

const char *	getVendor ()

const char *	getVersion ()

virtual ReturnCode_t	initialize ()

virtual CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context)

bool	isOwnExecutionContext (RTC::UniqueId ec_id)

virtual ReturnCode_t	on_aborting (UniqueId exec_handle)

virtual ReturnCode_t	on_activated (UniqueId exec_handle)

virtual ReturnCode_t	on_deactivated (UniqueId exec_handle)

virtual ReturnCode_t	on_error (UniqueId exec_handle)

virtual ReturnCode_t	on_execute (UniqueId exec_handle)

virtual ReturnCode_t	on_finalize ()

virtual ReturnCode_t	on_initialize ()

virtual ReturnCode_t	on_rate_changed (UniqueId exec_handle)

virtual ReturnCode_t	on_reset (UniqueId exec_handle)

virtual ReturnCode_t	on_shutdown (UniqueId exec_handle)

virtual ReturnCode_t	on_startup (UniqueId exec_handle)

virtual ReturnCode_t	on_state_update (UniqueId exec_handle)

bool	readAll ()

void	registerInPort (const char *name, InPortBase &inport)

void	registerOutPort (const char *name, OutPortBase &outport)

void	registerPort (PortBase &port)

void	registerPort (PortService_ptr port)

void	registerPort (CorbaPort &port)

void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)

void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)

void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)

void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)

bool	removeInPort (InPortBase &port)

bool	removeOutPort (OutPortBase &port)

bool	removePort (PortService_ptr port)

bool	removePort (CorbaPort &port)

bool	removePort (PortBase &port)

void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)

void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)

void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)

void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)

void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)

bool	removeSdoServiceConsumer (const char *id)

bool	removeSdoServiceProvider (const char *id)

ReturnCode_t	reset (RTC::UniqueId ec_id)

	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)

	RTObject_impl (Manager *manager)

ReturnCode_t	setExecutionRate (RTC::UniqueId ec_id, double rate)

void	setInstanceName (const char *instance_name)

void	setObjRef (const RTObject_ptr rtobj)

void	setProperties (const coil::Properties &prop)

void	setReadAll (bool read=true, bool completion=false)

void	setWriteAll (bool write=true, bool completion=false)

void	updateParameters (const char *config_set)

bool	writeAll ()

virtual	~RTObject_impl (void)

Protected Attributes
TimedAcceleration3D	m_accRef

OutPort< TimedAcceleration3D >	m_accRefOut

TimedBooleanSeq	m_actContactStates

InPort< TimedBooleanSeq >	m_actContactStatesIn

RTC::CorbaPort	m_AutoBalancerServicePort

TimedPoint3D	m_basePos

TimedPose3D	m_basePose

OutPort< TimedPose3D >	m_basePoseOut

InPort< TimedPoint3D >	m_basePosIn

OutPort< TimedPoint3D >	m_basePosOut

TimedOrientation3D	m_baseRpy

InPort< TimedOrientation3D >	m_baseRpyIn

OutPort< TimedOrientation3D >	m_baseRpyOut

TimedDoubleSeq	m_baseTform

OutPort< TimedDoubleSeq >	m_baseTformOut

TimedPoint3D	m_cog

OutPort< TimedPoint3D >	m_cogOut

TimedBooleanSeq	m_contactStates

OutPort< TimedBooleanSeq >	m_contactStatesOut

TimedDoubleSeq	m_controlSwingSupportTime

OutPort< TimedDoubleSeq >	m_controlSwingSupportTimeOut

TimedPoint3D	m_diffCP

InPort< TimedPoint3D >	m_diffCPIn

TimedLong	m_emergencySignal

InPort< TimedLong >	m_emergencySignalIn

std::vector< TimedDoubleSeq >	m_force

std::vector< TimedPoint3D >	m_limbCOPOffset

std::vector< OutPort< TimedPoint3D > * >	m_limbCOPOffsetOut

TimedDoubleSeq	m_optionalData

InPort< TimedDoubleSeq >	m_optionalDataIn

OutPort< TimedDoubleSeq >	m_qOut

TimedDoubleSeq	m_qRef

InPort< TimedDoubleSeq >	m_qRefIn

std::vector< TimedDoubleSeq >	m_ref_force

std::vector< InPort< TimedDoubleSeq > * >	m_ref_forceIn

std::vector< OutPort< TimedDoubleSeq > * >	m_ref_forceOut

TimedPoint3D	m_refFootOriginExtMoment

InPort< TimedPoint3D >	m_refFootOriginExtMomentIn

TimedBoolean	m_refFootOriginExtMomentIsHoldValue

InPort< TimedBoolean >	m_refFootOriginExtMomentIsHoldValueIn

TimedPoint3D	m_sbpCogOffset

OutPort< TimedPoint3D >	m_sbpCogOffsetOut

AutoBalancerService_impl	m_service0

TimedDoubleSeq	m_toeheelRatio

OutPort< TimedDoubleSeq >	m_toeheelRatioOut

TimedBoolean	m_walkingStates

OutPort< TimedBoolean >	m_walkingStatesOut

TimedPoint3D	m_zmp

InPort< TimedPoint3D >	m_zmpIn

RTC::OutPort< RTC::TimedPoint3D >	m_zmpOut

Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners	m_actionListeners

ConfigAdmin	m_configsets

bool	m_created

std::vector< ExecutionContextBase *>	m_eclist

ExecutionContextServiceList	m_ecMine

ExecutionContextServiceList	m_ecOther

bool	m_exiting

std::vector< InPortBase *>	m_inports

RTObject_var	m_objref

std::vector< OutPortBase *>	m_outports

Manager *	m_pManager

CORBA::ORB_var	m_pORB

PortAdmin	m_portAdmin

PortConnectListeners	m_portconnListeners

PortableServer::POA_var	m_pPOA

ComponentProfile	m_profile

coil::Properties	m_properties

SDOPackage::Configuration_var	m_pSdoConfig

SDOPackage::Configuration_impl *	m_pSdoConfigImpl

bool	m_readAll

bool	m_readAllCompletion

SDOPackage::OrganizationList	m_sdoOrganizations

SDOPackage::OrganizationList	m_sdoOwnedOrganizations

SdoServiceAdmin	m_sdoservice

SDOPackage::NVList	m_sdoStatus

bool	m_writeAll

bool	m_writeAllCompletion

Logger	rtclog

Private Types
enum	{ BIPED, TROT, PACE, CRAWL, GALLOP }

enum	{ MODE_IDLE, MODE_ABC, MODE_SYNC_TO_IDLE, MODE_SYNC_TO_ABC }

enum	{ MODE_NO_FORCE, MODE_REF_FORCE, MODE_REF_FORCE_WITH_FOOT, MODE_REF_FORCE_RFU_EXT_MOMENT }

typedef boost::shared_ptr< SimpleFullbodyInverseKinematicsSolver >	fikPtr

typedef boost::shared_ptr< rats::gait_generator >	ggPtr

Private Member Functions
bool	calc_inital_support_legs (const double &y, std::vector< rats::coordinates > &initial_support_legs_coords, std::vector< rats::leg_type > &initial_support_legs, rats::coordinates &start_ref_coords)

void	calc_static_balance_point_from_forces (hrp::Vector3 &sb_point, const hrp::Vector3 &tmpcog, const double ref_com_height)

hrp::Vector3	calc_vel_from_hand_error (const rats::coordinates &tmp_fix_coords)

void	calcFixCoordsForAdjustFootstep (rats::coordinates &tmp_fix_coords)

hrp::Vector3	calcFootMidPosUsingZMPWeightMap ()

void	calcReferenceJointAnglesForIK ()

void	calculateOutputRefForces ()

void	copyRatscoords2Footstep (OpenHRP::AutoBalancerService::Footstep &out_fs, const rats::coordinates &in_fs)

void	fixLegToCoords (const hrp::Vector3 &fix_pos, const hrp::Matrix33 &fix_rot)

void	fixLegToCoords2 (rats::coordinates &tmp_fix_coords)

void	getOutputParametersForABC ()

void	getOutputParametersForIDLE ()

void	getOutputParametersForWalking ()

void	getTargetParameters ()

std::string	getUseForceModeString ()

void	interpolateLegNamesAndZMPOffsets ()

bool	isOptionalDataContact (const std::string &ee_name)

hrp::Matrix33	OrientRotationMatrix (const hrp::Matrix33 &rot, const hrp::Vector3 &axis1, const hrp::Vector3 &axis2)

void	rotateRefForcesForFixCoords (rats::coordinates &tmp_fix_coords)

void	solveFullbodyIK ()

void	startABCparam (const ::OpenHRP::AutoBalancerService::StrSequence &limbs)

bool	startWalking ()

void	static_balance_point_proc_one (hrp::Vector3 &tmp_input_sbp, const double ref_com_height)

void	stopABCparam ()

void	stopWalking ()

void	updateTargetCoordsForHandFixMode (rats::coordinates &tmp_fix_coords)

void	updateWalkingVelocityFromHandError (rats::coordinates &tmp_fix_coords)

void	waitABCTransition ()

Private Attributes
hrp::Link *	additional_force_applied_link

hrp::Vector3	additional_force_applied_point_offset

interpolator *	adjust_footstep_interpolator

double	adjust_footstep_transition_time

std::map< std::string, size_t >	contact_states_index_map

enum AutoBalancer:: { ... }	control_mode

double	d_pos_z_root

std::vector< hrp::Vector3 >	default_zmp_offsets

std::vector< std::string >	ee_vec

fikPtr	fik

rats::coordinates	fix_leg_coords

rats::coordinates	fix_leg_coords2

enum AutoBalancer:: { ... }	gait_type

ggPtr	gg

bool	gg_is_walking

bool	gg_solved

std::string	graspless_manip_arm

bool	graspless_manip_mode

hrp::Vector3	graspless_manip_p_gain

rats::coordinates	graspless_manip_reference_trans_coords

hrp::Vector3	hand_fix_initial_offset

hrp::InvDynStateBuffer	idsb

std::map< std::string, ABCIKparam >	ikp

hrp::Vector3	input_basePos

hrp::Matrix33	input_baseRot

hrp::Vector3	input_zmp

std::vector< IIRFilter >	invdyn_zmp_filters

bool	is_hand_fix_initial

bool	is_hand_fix_mode

bool	is_legged_robot

bool	is_stop_mode

std::vector< std::string >	leg_names

interpolator *	leg_names_interpolator

double	leg_names_interpolator_ratio

double	limb_stretch_avoidance_time_const

double	limb_stretch_avoidance_vlimit [2]

int	loop

unsigned int	m_debugLevel

double	m_dt

coil::Mutex	m_mutex

hrp::BodyPtr	m_robot

std::map< std::string, hrp::VirtualForceSensorParam >	m_vfs

hrp::Vector3	prev_imu_sensor_pos

hrp::Vector3	prev_imu_sensor_vel

hrp::Vector3	prev_ref_zmp

hrp::Vector3	ref_cog

std::vector< hrp::Vector3 >	ref_forces

std::vector< hrp::Vector3 >	ref_moments

hrp::Vector3	ref_zmp

hrp::Vector3	sbp_cog_offset

hrp::Vector3	sbp_offset

std::vector< std::string >	sensor_names

hrp::Vector3	target_root_p

hrp::Matrix33	target_root_R

interpolator *	transition_interpolator

double	transition_interpolator_ratio

double	transition_time

enum AutoBalancer:: { ... }	use_force

bool	use_limb_stretch_avoidance

interpolator *	zmp_offset_interpolator

double	zmp_transition_time

Additional Inherited Members
Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener	ECActionListener

typedef ExecutionContextActionListenerType	ECActionListenerType

typedef PostComponentActionListener	PostCompActionListener

typedef PostComponentActionListenerType	PostCompActionListenerType

typedef PreComponentActionListener	PreCompActionListener

typedef PreComponentActionListenerType	PreCompActionListenerType

Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)

void	onAddPort (const PortProfile &pprof)

void	onAttachExecutionContext (UniqueId ec_id)

void	onDetachExecutionContext (UniqueId ec_id)

virtual ReturnCode_t	onError (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onRateChanged (RTC::UniqueId exec_handle)

void	onRemovePort (const PortProfile &pprof)

virtual ReturnCode_t	onReset (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onShutdown (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onStartup (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onStateUpdate (RTC::UniqueId exec_handle)

void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)

void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnError (UniqueId ec_id, ReturnCode_t ret)

void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)

void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)

void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)

void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)

void	postOnReset (UniqueId ec_id, ReturnCode_t ret)

void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)

void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)

void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)

void	preOnAborting (UniqueId ec_id)

void	preOnActivated (UniqueId ec_id)

void	preOnDeactivated (UniqueId ec_id)

void	preOnError (UniqueId ec_id)

void	preOnExecute (UniqueId ec_id)

void	preOnFinalize (UniqueId ec_id)

void	preOnInitialize (UniqueId ec_id)

void	preOnRateChanged (UniqueId ec_id)

void	preOnReset (UniqueId ec_id)

void	preOnShutdown (UniqueId ec_id)

void	preOnStartup (UniqueId ec_id)

void	preOnStateUpdate (UniqueId ec_id)

void	shutdown ()

Detailed Description

Definition at line 42 of file AutoBalancer.h.

Member Typedef Documentation

◆ fikPtr

typedef boost::shared_ptr<SimpleFullbodyInverseKinematicsSolver> AutoBalancer::fikPtr

private

Definition at line 249 of file AutoBalancer.h.

◆ ggPtr

typedef boost::shared_ptr<rats::gait_generator> AutoBalancer::ggPtr

private

Definition at line 245 of file AutoBalancer.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
BIPED
TROT
PACE
CRAWL
GALLOP

Definition at line 252 of file AutoBalancer.h.

◆ anonymous enum

anonymous enum

private

Enumerator
MODE_IDLE
MODE_ABC
MODE_SYNC_TO_IDLE
MODE_SYNC_TO_ABC

Definition at line 253 of file AutoBalancer.h.

◆ anonymous enum

anonymous enum

private

Enumerator
MODE_NO_FORCE
MODE_REF_FORCE
MODE_REF_FORCE_WITH_FOOT
MODE_REF_FORCE_RFU_EXT_MOMENT

Definition at line 278 of file AutoBalancer.h.

Constructor & Destructor Documentation

◆ AutoBalancer()

AutoBalancer::AutoBalancer ( RTC::Manager * manager )

Definition at line 54 of file AutoBalancer.cpp.

◆ ~AutoBalancer()

AutoBalancer::~AutoBalancer ( )

virtual

Definition at line 89 of file AutoBalancer.cpp.

Member Function Documentation

◆ adjustFootSteps()

bool AutoBalancer::adjustFootSteps	(	const OpenHRP::AutoBalancerService::Footstep &	rfootstep,
		const OpenHRP::AutoBalancerService::Footstep &	lfootstep
	)

Definition at line 1908 of file AutoBalancer.cpp.

◆ calc_inital_support_legs()

bool AutoBalancer::calc_inital_support_legs	(	const double &	y,
		std::vector< rats::coordinates > &	initial_support_legs_coords,
		std::vector< rats::leg_type > &	initial_support_legs,
		rats::coordinates &	start_ref_coords
	)

private

Definition at line 2134 of file AutoBalancer.cpp.

◆ calc_static_balance_point_from_forces()

void AutoBalancer::calc_static_balance_point_from_forces	(	hrp::Vector3 &	sb_point,
		const hrp::Vector3 &	tmpcog,
		const double	ref_com_height
	)

private

Definition at line 2036 of file AutoBalancer.cpp.

◆ calc_vel_from_hand_error()

hrp::Vector3 AutoBalancer::calc_vel_from_hand_error ( const rats::coordinates & tmp_fix_coords )

private

Definition at line 2094 of file AutoBalancer.cpp.

◆ calcFixCoordsForAdjustFootstep()

void AutoBalancer::calcFixCoordsForAdjustFootstep ( rats::coordinates & tmp_fix_coords )

private

Definition at line 883 of file AutoBalancer.cpp.

◆ calcFootMidPosUsingZMPWeightMap()

hrp::Vector3 AutoBalancer::calcFootMidPosUsingZMPWeightMap ( )

private

Definition at line 983 of file AutoBalancer.cpp.

◆ calcReferenceJointAnglesForIK()

void AutoBalancer::calcReferenceJointAnglesForIK ( )

private

Definition at line 1013 of file AutoBalancer.cpp.

◆ calculateOutputRefForces()

void AutoBalancer::calculateOutputRefForces ( )

private

Definition at line 958 of file AutoBalancer.cpp.

◆ copyRatscoords2Footstep()

void AutoBalancer::copyRatscoords2Footstep	(	OpenHRP::AutoBalancerService::Footstep &	out_fs,
		const rats::coordinates &	in_fs
	)

private

Definition at line 1877 of file AutoBalancer.cpp.

◆ distributeReferenceZMPToWrenches()

void AutoBalancer::distributeReferenceZMPToWrenches ( const hrp::Vector3 & _ref_zmp )

Definition at line 2184 of file AutoBalancer.cpp.

◆ emergencyStop()

bool AutoBalancer::emergencyStop ( )

Definition at line 1318 of file AutoBalancer.cpp.

◆ fixLegToCoords()

void AutoBalancer::fixLegToCoords	(	const hrp::Vector3 &	fix_pos,
		const hrp::Matrix33 &	fix_rot
	)

private

Definition at line 1039 of file AutoBalancer.cpp.

◆ fixLegToCoords2()

void AutoBalancer::fixLegToCoords2 ( rats::coordinates & tmp_fix_coords )

private

Definition at line 1059 of file AutoBalancer.cpp.

◆ getAutoBalancerParam()

bool AutoBalancer::getAutoBalancerParam ( OpenHRP::AutoBalancerService::AutoBalancerParam & i_param )

Definition at line 1796 of file AutoBalancer.cpp.

◆ getFootstepParam()

bool AutoBalancer::getFootstepParam ( OpenHRP::AutoBalancerService::FootstepParam & i_param )

Definition at line 1887 of file AutoBalancer.cpp.

◆ getGaitGeneratorParam()

bool AutoBalancer::getGaitGeneratorParam ( OpenHRP::AutoBalancerService::GaitGeneratorParam & i_param )

Definition at line 1556 of file AutoBalancer.cpp.

◆ getGoPosFootstepsSequence()

bool AutoBalancer::getGoPosFootstepsSequence	(	const double &	x,
		const double &	y,
		const double &	th,
		OpenHRP::AutoBalancerService::FootstepsSequence_out	o_footstep
	)

Definition at line 1988 of file AutoBalancer.cpp.

◆ getOutputParametersForABC()

void AutoBalancer::getOutputParametersForABC ( )

private

Definition at line 803 of file AutoBalancer.cpp.

◆ getOutputParametersForIDLE()

void AutoBalancer::getOutputParametersForIDLE ( )

private

Definition at line 833 of file AutoBalancer.cpp.

◆ getOutputParametersForWalking()

void AutoBalancer::getOutputParametersForWalking ( )

private

Definition at line 763 of file AutoBalancer.cpp.

◆ getRemainingFootstepSequence()

bool AutoBalancer::getRemainingFootstepSequence	(	OpenHRP::AutoBalancerService::FootstepSequence_out	o_footstep,
		CORBA::Long &	o_current_fs_idx
	)

Definition at line 1972 of file AutoBalancer.cpp.

◆ getTargetParameters()

void AutoBalancer::getTargetParameters ( )

private

Definition at line 666 of file AutoBalancer.cpp.

◆ getUseForceModeString()

std::string AutoBalancer::getUseForceModeString ( )

private

Definition at line 2284 of file AutoBalancer.cpp.

◆ goPos()

bool AutoBalancer::goPos	(	const double &	x,
		const double &	y,
		const double &	th
	)

Definition at line 1247 of file AutoBalancer.cpp.

◆ goStop()

bool AutoBalancer::goStop ( )

Definition at line 1311 of file AutoBalancer.cpp.

◆ goVelocity()

bool AutoBalancer::goVelocity	(	const double &	vx,
		const double &	vy,
		const double &	vth
	)

Definition at line 1275 of file AutoBalancer.cpp.

◆ interpolateLegNamesAndZMPOffsets()

void AutoBalancer::interpolateLegNamesAndZMPOffsets ( )

private

Definition at line 860 of file AutoBalancer.cpp.

◆ isOptionalDataContact()

bool AutoBalancer::isOptionalDataContact ( const std::string & ee_name )

inlineprivate

Definition at line 237 of file AutoBalancer.h.

◆ onActivated()

RTC::ReturnCode_t AutoBalancer::onActivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 412 of file AutoBalancer.cpp.

◆ onDeactivated()

RTC::ReturnCode_t AutoBalancer::onDeactivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 419 of file AutoBalancer.cpp.

◆ onExecute()

RTC::ReturnCode_t AutoBalancer::onExecute ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 434 of file AutoBalancer.cpp.

◆ onFinalize()

RTC::ReturnCode_t AutoBalancer::onFinalize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 389 of file AutoBalancer.cpp.

◆ onInitialize()

RTC::ReturnCode_t AutoBalancer::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 94 of file AutoBalancer.cpp.

◆ OrientRotationMatrix()

hrp::Matrix33 AutoBalancer::OrientRotationMatrix	(	const hrp::Matrix33 &	rot,
		const hrp::Vector3 &	axis1,
		const hrp::Vector3 &	axis2
	)

private

Definition at line 1028 of file AutoBalancer.cpp.

◆ releaseEmergencyStop()

bool AutoBalancer::releaseEmergencyStop ( )

Definition at line 1327 of file AutoBalancer.cpp.

◆ rotateRefForcesForFixCoords()

void AutoBalancer::rotateRefForcesForFixCoords ( rats::coordinates & tmp_fix_coords )

private

Definition at line 901 of file AutoBalancer.cpp.

◆ setAutoBalancerParam()

bool AutoBalancer::setAutoBalancerParam ( const OpenHRP::AutoBalancerService::AutoBalancerParam & i_param )

Definition at line 1647 of file AutoBalancer.cpp.

◆ setFootSteps() [1/2]

bool AutoBalancer::setFootSteps	(	const OpenHRP::AutoBalancerService::FootstepSequence &	fs,
		CORBA::Long	overwrite_fs_idx
	)

◆ setFootSteps() [2/2]

bool AutoBalancer::setFootSteps	(	const OpenHRP::AutoBalancerService::FootstepsSequence &	fss,
		CORBA::Long	overwrite_fs_idx
	)

Definition at line 1336 of file AutoBalancer.cpp.

◆ setFootStepsWithParam() [1/2]

bool AutoBalancer::setFootStepsWithParam	(	const OpenHRP::AutoBalancerService::FootstepSequence &	fs,
		const OpenHRP::AutoBalancerService::StepParamSequence &	sps,
		CORBA::Long	overwrite_fs_idx
	)

◆ setFootStepsWithParam() [2/2]

bool AutoBalancer::setFootStepsWithParam	(	const OpenHRP::AutoBalancerService::FootstepsSequence &	fss,
		const OpenHRP::AutoBalancerService::StepParamsSequence &	spss,
		CORBA::Long	overwrite_fs_idx
	)

Definition at line 1354 of file AutoBalancer.cpp.

◆ setGaitGeneratorParam()

bool AutoBalancer::setGaitGeneratorParam ( const OpenHRP::AutoBalancerService::GaitGeneratorParam & i_param )

Definition at line 1468 of file AutoBalancer.cpp.

◆ solveFullbodyIK()

void AutoBalancer::solveFullbodyIK ( )

private

Definition at line 1078 of file AutoBalancer.cpp.

◆ startABCparam()

void AutoBalancer::startABCparam ( const ::OpenHRP::AutoBalancerService::StrSequence & limbs )

private

Definition at line 1138 of file AutoBalancer.cpp.

◆ startAutoBalancer()

bool AutoBalancer::startAutoBalancer ( const ::OpenHRP::AutoBalancerService::StrSequence & limbs )

Definition at line 1219 of file AutoBalancer.cpp.

◆ startWalking()

bool AutoBalancer::startWalking ( )

private

Definition at line 1173 of file AutoBalancer.cpp.

◆ static_balance_point_proc_one()

void AutoBalancer::static_balance_point_proc_one	(	hrp::Vector3 &	tmp_input_sbp,
		const double	ref_com_height
	)

private

Definition at line 2023 of file AutoBalancer.cpp.

◆ stopABCparam()

void AutoBalancer::stopABCparam ( )

private

Definition at line 1161 of file AutoBalancer.cpp.

◆ stopAutoBalancer()

bool AutoBalancer::stopAutoBalancer ( )

Definition at line 1231 of file AutoBalancer.cpp.

◆ stopWalking()

void AutoBalancer::stopWalking ( )

private

Definition at line 1207 of file AutoBalancer.cpp.

◆ updateTargetCoordsForHandFixMode()

void AutoBalancer::updateTargetCoordsForHandFixMode ( rats::coordinates & tmp_fix_coords )

private

Definition at line 922 of file AutoBalancer.cpp.

◆ updateWalkingVelocityFromHandError()

void AutoBalancer::updateWalkingVelocityFromHandError ( rats::coordinates & tmp_fix_coords )

private

Definition at line 1000 of file AutoBalancer.cpp.

◆ waitABCTransition()

void AutoBalancer::waitABCTransition ( )

private

Definition at line 1242 of file AutoBalancer.cpp.

◆ waitFootSteps()

void AutoBalancer::waitFootSteps ( )

Definition at line 1450 of file AutoBalancer.cpp.

◆ waitFootStepsEarly()

void AutoBalancer::waitFootStepsEarly ( const double tm )

Definition at line 1459 of file AutoBalancer.cpp.

Member Data Documentation

◆ additional_force_applied_link

hrp::Link* AutoBalancer::additional_force_applied_link

private

Definition at line 293 of file AutoBalancer.h.

◆ additional_force_applied_point_offset

hrp::Vector3 AutoBalancer::additional_force_applied_point_offset

private

Definition at line 294 of file AutoBalancer.h.

◆ adjust_footstep_interpolator

interpolator* AutoBalancer::adjust_footstep_interpolator

private

Definition at line 271 of file AutoBalancer.h.

◆ adjust_footstep_transition_time

double AutoBalancer::adjust_footstep_transition_time

private

Definition at line 268 of file AutoBalancer.h.

◆ contact_states_index_map

std::map<std::string, size_t> AutoBalancer::contact_states_index_map

private

Definition at line 255 of file AutoBalancer.h.

◆ control_mode

enum { ... } AutoBalancer::control_mode

◆ d_pos_z_root

double AutoBalancer::d_pos_z_root

private

Definition at line 265 of file AutoBalancer.h.

◆ default_zmp_offsets

std::vector<hrp::Vector3> AutoBalancer::default_zmp_offsets

private

Definition at line 261 of file AutoBalancer.h.

◆ ee_vec

std::vector<std::string> AutoBalancer::ee_vec

private

Definition at line 257 of file AutoBalancer.h.

◆ fik

fikPtr AutoBalancer::fik

private

Definition at line 250 of file AutoBalancer.h.

◆ fix_leg_coords

rats::coordinates AutoBalancer::fix_leg_coords

private

Definition at line 260 of file AutoBalancer.h.

◆ fix_leg_coords2

rats::coordinates AutoBalancer::fix_leg_coords2

private

Definition at line 260 of file AutoBalancer.h.

◆ gait_type

enum { ... } AutoBalancer::gait_type

◆ gg

ggPtr AutoBalancer::gg

private

Definition at line 246 of file AutoBalancer.h.

◆ gg_is_walking

bool AutoBalancer::gg_is_walking

private

Definition at line 247 of file AutoBalancer.h.

◆ gg_solved

bool AutoBalancer::gg_solved

private

Definition at line 247 of file AutoBalancer.h.

◆ graspless_manip_arm

std::string AutoBalancer::graspless_manip_arm

private

Definition at line 285 of file AutoBalancer.h.

◆ graspless_manip_mode

bool AutoBalancer::graspless_manip_mode

private

Definition at line 284 of file AutoBalancer.h.

◆ graspless_manip_p_gain

hrp::Vector3 AutoBalancer::graspless_manip_p_gain

private

Definition at line 286 of file AutoBalancer.h.

◆ graspless_manip_reference_trans_coords

rats::coordinates AutoBalancer::graspless_manip_reference_trans_coords

private

Definition at line 287 of file AutoBalancer.h.

◆ hand_fix_initial_offset

hrp::Vector3 AutoBalancer::hand_fix_initial_offset

private

Definition at line 251 of file AutoBalancer.h.

◆ idsb

hrp::InvDynStateBuffer AutoBalancer::idsb

private

Definition at line 289 of file AutoBalancer.h.

◆ ikp

std::map<std::string, ABCIKparam> AutoBalancer::ikp

private

Definition at line 254 of file AutoBalancer.h.

◆ input_basePos

hrp::Vector3 AutoBalancer::input_basePos

private

Definition at line 273 of file AutoBalancer.h.

◆ input_baseRot

hrp::Matrix33 AutoBalancer::input_baseRot

private

Definition at line 274 of file AutoBalancer.h.

◆ input_zmp

hrp::Vector3 AutoBalancer::input_zmp

private

Definition at line 273 of file AutoBalancer.h.

◆ invdyn_zmp_filters

std::vector<IIRFilter> AutoBalancer::invdyn_zmp_filters

private

Definition at line 290 of file AutoBalancer.h.

◆ is_hand_fix_initial

bool AutoBalancer::is_hand_fix_initial

private

Definition at line 282 of file AutoBalancer.h.

◆ is_hand_fix_mode

bool AutoBalancer::is_hand_fix_mode

private

Definition at line 282 of file AutoBalancer.h.

◆ is_legged_robot

bool AutoBalancer::is_legged_robot

private

Definition at line 282 of file AutoBalancer.h.

◆ is_stop_mode

bool AutoBalancer::is_stop_mode

private

Definition at line 282 of file AutoBalancer.h.

◆ leg_names

std::vector<std::string> AutoBalancer::leg_names

private

Definition at line 257 of file AutoBalancer.h.

◆ leg_names_interpolator

interpolator* AutoBalancer::leg_names_interpolator

private

Definition at line 272 of file AutoBalancer.h.

◆ leg_names_interpolator_ratio

double AutoBalancer::leg_names_interpolator_ratio

private

Definition at line 268 of file AutoBalancer.h.

◆ limb_stretch_avoidance_time_const

double AutoBalancer::limb_stretch_avoidance_time_const

private

Definition at line 265 of file AutoBalancer.h.

◆ limb_stretch_avoidance_vlimit

double AutoBalancer::limb_stretch_avoidance_vlimit[2]

private

Definition at line 265 of file AutoBalancer.h.

◆ loop

int AutoBalancer::loop

private

Definition at line 283 of file AutoBalancer.h.

◆ m_accRef

TimedAcceleration3D AutoBalancer::m_accRef

protected

Definition at line 164 of file AutoBalancer.h.

◆ m_accRefOut

OutPort<TimedAcceleration3D> AutoBalancer::m_accRefOut

protected

Definition at line 165 of file AutoBalancer.h.

◆ m_actContactStates

TimedBooleanSeq AutoBalancer::m_actContactStates

protected

Definition at line 143 of file AutoBalancer.h.

◆ m_actContactStatesIn

InPort<TimedBooleanSeq> AutoBalancer::m_actContactStatesIn

protected

Definition at line 144 of file AutoBalancer.h.

◆ m_AutoBalancerServicePort

RTC::CorbaPort AutoBalancer::m_AutoBalancerServicePort

protected

Definition at line 187 of file AutoBalancer.h.

◆ m_basePos

TimedPoint3D AutoBalancer::m_basePos

protected

Definition at line 129 of file AutoBalancer.h.

◆ m_basePose

TimedPose3D AutoBalancer::m_basePose

protected

Definition at line 162 of file AutoBalancer.h.

◆ m_basePoseOut

OutPort<TimedPose3D> AutoBalancer::m_basePoseOut

protected

Definition at line 163 of file AutoBalancer.h.

◆ m_basePosIn

InPort<TimedPoint3D> AutoBalancer::m_basePosIn

protected

Definition at line 130 of file AutoBalancer.h.

◆ m_basePosOut

OutPort<TimedPoint3D> AutoBalancer::m_basePosOut

protected

Definition at line 158 of file AutoBalancer.h.

◆ m_baseRpy

TimedOrientation3D AutoBalancer::m_baseRpy

protected

Definition at line 131 of file AutoBalancer.h.

◆ m_baseRpyIn

InPort<TimedOrientation3D> AutoBalancer::m_baseRpyIn

protected

Definition at line 132 of file AutoBalancer.h.

◆ m_baseRpyOut

OutPort<TimedOrientation3D> AutoBalancer::m_baseRpyOut

protected

Definition at line 159 of file AutoBalancer.h.

◆ m_baseTform

TimedDoubleSeq AutoBalancer::m_baseTform

protected

Definition at line 160 of file AutoBalancer.h.

◆ m_baseTformOut

OutPort<TimedDoubleSeq> AutoBalancer::m_baseTformOut

protected

Definition at line 161 of file AutoBalancer.h.

◆ m_cog

TimedPoint3D AutoBalancer::m_cog

protected

Definition at line 150 of file AutoBalancer.h.

◆ m_cogOut

OutPort<TimedPoint3D> AutoBalancer::m_cogOut

protected

Definition at line 181 of file AutoBalancer.h.

◆ m_contactStates

TimedBooleanSeq AutoBalancer::m_contactStates

protected

Definition at line 166 of file AutoBalancer.h.

◆ m_contactStatesOut

OutPort<TimedBooleanSeq> AutoBalancer::m_contactStatesOut

protected

Definition at line 167 of file AutoBalancer.h.

◆ m_controlSwingSupportTime

TimedDoubleSeq AutoBalancer::m_controlSwingSupportTime

protected

Definition at line 170 of file AutoBalancer.h.

◆ m_controlSwingSupportTimeOut

OutPort<TimedDoubleSeq> AutoBalancer::m_controlSwingSupportTimeOut

protected

Definition at line 171 of file AutoBalancer.h.

◆ m_debugLevel

unsigned int AutoBalancer::m_debugLevel

private

Definition at line 281 of file AutoBalancer.h.

◆ m_diffCP

TimedPoint3D AutoBalancer::m_diffCP

protected

Definition at line 141 of file AutoBalancer.h.

◆ m_diffCPIn

InPort<TimedPoint3D> AutoBalancer::m_diffCPIn

protected

Definition at line 142 of file AutoBalancer.h.

◆ m_dt

double AutoBalancer::m_dt

private

Definition at line 262 of file AutoBalancer.h.

◆ m_emergencySignal

TimedLong AutoBalancer::m_emergencySignal

protected

Definition at line 139 of file AutoBalancer.h.

◆ m_emergencySignalIn

InPort<TimedLong> AutoBalancer::m_emergencySignalIn

protected

Definition at line 140 of file AutoBalancer.h.

◆ m_force

std::vector<TimedDoubleSeq> AutoBalancer::m_force

protected

Definition at line 176 of file AutoBalancer.h.

◆ m_limbCOPOffset

std::vector<TimedPoint3D> AutoBalancer::m_limbCOPOffset

protected

Definition at line 178 of file AutoBalancer.h.

◆ m_limbCOPOffsetOut

std::vector<OutPort<TimedPoint3D> *> AutoBalancer::m_limbCOPOffsetOut

protected

Definition at line 179 of file AutoBalancer.h.

◆ m_mutex

coil::Mutex AutoBalancer::m_mutex

private

Definition at line 264 of file AutoBalancer.h.

◆ m_optionalData

TimedDoubleSeq AutoBalancer::m_optionalData

protected

Definition at line 135 of file AutoBalancer.h.

◆ m_optionalDataIn

InPort<TimedDoubleSeq> AutoBalancer::m_optionalDataIn

protected

Definition at line 136 of file AutoBalancer.h.

◆ m_qOut

OutPort<TimedDoubleSeq> AutoBalancer::m_qOut

protected

Definition at line 156 of file AutoBalancer.h.

◆ m_qRef

TimedDoubleSeq AutoBalancer::m_qRef

protected

Definition at line 127 of file AutoBalancer.h.

◆ m_qRefIn

InPort<TimedDoubleSeq> AutoBalancer::m_qRefIn

protected

Definition at line 128 of file AutoBalancer.h.

◆ m_ref_force

std::vector<TimedDoubleSeq> AutoBalancer::m_ref_force

protected

Definition at line 137 of file AutoBalancer.h.

◆ m_ref_forceIn

std::vector<InPort<TimedDoubleSeq> *> AutoBalancer::m_ref_forceIn

protected

Definition at line 138 of file AutoBalancer.h.

◆ m_ref_forceOut

std::vector<OutPort<TimedDoubleSeq> *> AutoBalancer::m_ref_forceOut

protected

Definition at line 177 of file AutoBalancer.h.

◆ m_refFootOriginExtMoment

TimedPoint3D AutoBalancer::m_refFootOriginExtMoment

protected

Definition at line 145 of file AutoBalancer.h.

◆ m_refFootOriginExtMomentIn

InPort<TimedPoint3D> AutoBalancer::m_refFootOriginExtMomentIn

protected

Definition at line 146 of file AutoBalancer.h.

◆ m_refFootOriginExtMomentIsHoldValue

TimedBoolean AutoBalancer::m_refFootOriginExtMomentIsHoldValue

protected

Definition at line 147 of file AutoBalancer.h.

◆ m_refFootOriginExtMomentIsHoldValueIn

InPort<TimedBoolean> AutoBalancer::m_refFootOriginExtMomentIsHoldValueIn

protected

Definition at line 148 of file AutoBalancer.h.

◆ m_robot

hrp::BodyPtr AutoBalancer::m_robot

private

Definition at line 263 of file AutoBalancer.h.

◆ m_sbpCogOffset

TimedPoint3D AutoBalancer::m_sbpCogOffset

protected

Definition at line 174 of file AutoBalancer.h.

◆ m_sbpCogOffsetOut

OutPort<TimedPoint3D> AutoBalancer::m_sbpCogOffsetOut

protected

Definition at line 175 of file AutoBalancer.h.

◆ m_service0

AutoBalancerService_impl AutoBalancer::m_service0

protected

Definition at line 193 of file AutoBalancer.h.

◆ m_toeheelRatio

TimedDoubleSeq AutoBalancer::m_toeheelRatio

protected

Definition at line 168 of file AutoBalancer.h.

◆ m_toeheelRatioOut

OutPort<TimedDoubleSeq> AutoBalancer::m_toeheelRatioOut

protected

Definition at line 169 of file AutoBalancer.h.

◆ m_vfs

std::map<std::string, hrp::VirtualForceSensorParam> AutoBalancer::m_vfs

private

Definition at line 256 of file AutoBalancer.h.

◆ m_walkingStates

TimedBoolean AutoBalancer::m_walkingStates

protected

Definition at line 172 of file AutoBalancer.h.

◆ m_walkingStatesOut

OutPort<TimedBoolean> AutoBalancer::m_walkingStatesOut

protected

Definition at line 173 of file AutoBalancer.h.

◆ m_zmp

TimedPoint3D AutoBalancer::m_zmp

protected

Definition at line 133 of file AutoBalancer.h.

◆ m_zmpIn

InPort<TimedPoint3D> AutoBalancer::m_zmpIn

protected

Definition at line 134 of file AutoBalancer.h.

◆ m_zmpOut

RTC::OutPort<RTC::TimedPoint3D> AutoBalancer::m_zmpOut

protected

Definition at line 157 of file AutoBalancer.h.

◆ prev_imu_sensor_pos

hrp::Vector3 AutoBalancer::prev_imu_sensor_pos

private

Definition at line 251 of file AutoBalancer.h.

◆ prev_imu_sensor_vel

hrp::Vector3 AutoBalancer::prev_imu_sensor_vel

private

Definition at line 251 of file AutoBalancer.h.

◆ prev_ref_zmp

hrp::Vector3 AutoBalancer::prev_ref_zmp

private

Definition at line 251 of file AutoBalancer.h.

◆ ref_cog

hrp::Vector3 AutoBalancer::ref_cog

private

Definition at line 251 of file AutoBalancer.h.

◆ ref_forces

std::vector<hrp::Vector3> AutoBalancer::ref_forces

private

Definition at line 279 of file AutoBalancer.h.

◆ ref_moments

std::vector<hrp::Vector3> AutoBalancer::ref_moments

private

Definition at line 279 of file AutoBalancer.h.

◆ ref_zmp

hrp::Vector3 AutoBalancer::ref_zmp

private

Definition at line 251 of file AutoBalancer.h.

◆ sbp_cog_offset

hrp::Vector3 AutoBalancer::sbp_cog_offset

private

Definition at line 277 of file AutoBalancer.h.

◆ sbp_offset

hrp::Vector3 AutoBalancer::sbp_offset

private

Definition at line 277 of file AutoBalancer.h.

◆ sensor_names

std::vector<std::string> AutoBalancer::sensor_names

private

Definition at line 257 of file AutoBalancer.h.

◆ target_root_p

hrp::Vector3 AutoBalancer::target_root_p

private

Definition at line 258 of file AutoBalancer.h.

◆ target_root_R

hrp::Matrix33 AutoBalancer::target_root_R

private

Definition at line 259 of file AutoBalancer.h.

◆ transition_interpolator

interpolator* AutoBalancer::transition_interpolator

private

Definition at line 270 of file AutoBalancer.h.

◆ transition_interpolator_ratio

double AutoBalancer::transition_interpolator_ratio

private

Definition at line 268 of file AutoBalancer.h.

◆ transition_time

double AutoBalancer::transition_time

private

Definition at line 268 of file AutoBalancer.h.

◆ use_force

enum { ... } AutoBalancer::use_force

◆ use_limb_stretch_avoidance

bool AutoBalancer::use_limb_stretch_avoidance

private

Definition at line 266 of file AutoBalancer.h.

◆ zmp_offset_interpolator

interpolator* AutoBalancer::zmp_offset_interpolator

private

Definition at line 269 of file AutoBalancer.h.

◆ zmp_transition_time

double AutoBalancer::zmp_transition_time

private

Definition at line 268 of file AutoBalancer.h.

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

Classes

Public Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ fikPtr

◆ ggPtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ AutoBalancer()

◆ ~AutoBalancer()

Member Function Documentation

◆ adjustFootSteps()

◆ calc_inital_support_legs()

◆ calc_static_balance_point_from_forces()

◆ calc_vel_from_hand_error()

◆ calcFixCoordsForAdjustFootstep()

◆ calcFootMidPosUsingZMPWeightMap()

◆ calcReferenceJointAnglesForIK()

◆ calculateOutputRefForces()

◆ copyRatscoords2Footstep()

◆ distributeReferenceZMPToWrenches()

◆ emergencyStop()

◆ fixLegToCoords()

◆ fixLegToCoords2()

◆ getAutoBalancerParam()

◆ getFootstepParam()

◆ getGaitGeneratorParam()

◆ getGoPosFootstepsSequence()

◆ getOutputParametersForABC()

◆ getOutputParametersForIDLE()

◆ getOutputParametersForWalking()

◆ getRemainingFootstepSequence()

◆ getTargetParameters()

◆ getUseForceModeString()

◆ goPos()

◆ goStop()

◆ goVelocity()

◆ interpolateLegNamesAndZMPOffsets()

◆ isOptionalDataContact()

◆ onActivated()

◆ onDeactivated()

◆ onExecute()

◆ onFinalize()

◆ onInitialize()

◆ OrientRotationMatrix()

◆ releaseEmergencyStop()

◆ rotateRefForcesForFixCoords()

◆ setAutoBalancerParam()

◆ setFootSteps() [1/2]

◆ setFootSteps() [2/2]

◆ setFootStepsWithParam() [1/2]

◆ setFootStepsWithParam() [2/2]

◆ setGaitGeneratorParam()

◆ solveFullbodyIK()

◆ startABCparam()

◆ startAutoBalancer()

◆ startWalking()

◆ static_balance_point_proc_one()

◆ stopABCparam()

◆ stopAutoBalancer()

◆ stopWalking()

◆ updateTargetCoordsForHandFixMode()

◆ updateWalkingVelocityFromHandError()

◆ waitABCTransition()

◆ waitFootSteps()

◆ waitFootStepsEarly()

Member Data Documentation

◆ additional_force_applied_link

◆ additional_force_applied_point_offset

◆ adjust_footstep_interpolator

◆ adjust_footstep_transition_time

◆ contact_states_index_map