rats::cross_delay_hoffarbib_trajectory_generator Class Reference

#include <GaitGenerator.h>

Inheritance diagram for rats::cross_delay_hoffarbib_trajectory_generator:

Public Member Functions
double	calc_antecedent_path (const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height)
	cross_delay_hoffarbib_trajectory_generator ()
void	set_swing_leg (leg_type _lr)
	~cross_delay_hoffarbib_trajectory_generator ()
Public Member Functions inherited from rats::delay_hoffarbib_trajectory_generator
double	calc_antecedent_path_base (const std::vector< hrp::Vector3 > org_point_vec)
	delay_hoffarbib_trajectory_generator ()
double	get_swing_trajectory_delay_time_offset () const
double	get_swing_trajectory_final_distance_weight () const
double	get_swing_trajectory_time_offset_xy2z () const
void	get_trajectory_point (hrp::Vector3 &ret, const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height)
hrp::Vector3	interpolate_antecedent_path (const double tmp_ratio) const
void	reset (const size_t _one_step_len, const double default_double_support_ratio_before, const double default_double_support_ratio_after)
void	reset_all (const double _dt, const size_t _one_step_len, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double _time_offset, const double _final_distance_weight, const double _time_offset_xy2z)
void	set_dt (const double _dt)
void	set_swing_trajectory_delay_time_offset (const double _time_offset)
void	set_swing_trajectory_final_distance_weight (const double _final_distance_weight)
void	set_swing_trajectory_time_offset_xy2z (const double _tmp)
	~delay_hoffarbib_trajectory_generator ()

Public Attributes
hrp::Vector3	way_point_offset

Private Attributes
leg_type	swing_leg

Additional Inherited Members
Protected Attributes inherited from rats::delay_hoffarbib_trajectory_generator
size_t	current_count
size_t	double_support_count_after
size_t	double_support_count_before
double	final_distance_weight
size_t	one_step_count
double	time_offset
double	time_offset_xy2z

Detailed Description

Definition at line 654 of file GaitGenerator.h.

Constructor & Destructor Documentation

cross_delay_hoffarbib_trajectory_generator()

rats::cross_delay_hoffarbib_trajectory_generator::cross_delay_hoffarbib_trajectory_generator ( )

inline

Definition at line 659 of file GaitGenerator.h.

~cross_delay_hoffarbib_trajectory_generator()

rats::cross_delay_hoffarbib_trajectory_generator::~cross_delay_hoffarbib_trajectory_generator ( )

inline

Definition at line 660 of file GaitGenerator.h.

Member Function Documentation

calc_antecedent_path()

double rats::cross_delay_hoffarbib_trajectory_generator::calc_antecedent_path ( const hrp::Vector3 &  start, const hrp::Vector3 &  goal, const double  height  )

inlinevirtual

Implements rats::delay_hoffarbib_trajectory_generator.

Definition at line 663 of file GaitGenerator.h.

set_swing_leg()

void rats::cross_delay_hoffarbib_trajectory_generator::set_swing_leg ( leg_type  _lr )

inline

Definition at line 661 of file GaitGenerator.h.

Member Data Documentation

swing_leg

leg_type rats::cross_delay_hoffarbib_trajectory_generator::swing_leg

private

Definition at line 657 of file GaitGenerator.h.

way_point_offset

hrp::Vector3 rats::cross_delay_hoffarbib_trajectory_generator::way_point_offset

Definition at line 661 of file GaitGenerator.h.

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

• GaitGenerator.h