#include <GaitGenerator.h>

Public Member Functions
bool	get_current_refzmp (hrp::Vector3 &rzmp, std::vector< hrp::Vector3 > &swing_foot_zmp_offsets, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double default_double_support_static_ratio_before, const double default_double_support_static_ratio_after)

const hrp::Vector3 &	get_default_zmp_offset (const leg_type lt) const

double	get_heel_zmp_offset_x () const

const hrp::Vector3 &	get_refzmp_cur () const

double	get_toe_zmp_offset_x () const

bool	get_use_toe_heel_auto_set () const

bool	get_use_toe_heel_transition () const

const std::map< leg_type, double >	get_zmp_weight_map () const

void	proc_zmp_weight_map_interpolation ()

void	push_refzmp_from_footstep_nodes_for_dual (const std::vector< step_node > &fns, const std::vector< step_node > &_support_leg_steps, const std::vector< step_node > &_swing_leg_steps)

void	push_refzmp_from_footstep_nodes_for_single (const std::vector< step_node > &fns, const std::vector< step_node > &_support_leg_steps, const toe_heel_types &tht)

	refzmp_generator (const double _dt)

void	remove_refzmp_cur_list_over_length (const size_t len)

void	reset (const size_t _refzmp_count)

void	set_default_zmp_offsets (const std::vector< hrp::Vector3 > &tmp)

void	set_heel_zmp_offset_x (const double _off)

void	set_indices (const size_t idx)

void	set_refzmp_count (const size_t _refzmp_count)

bool	set_toe_heel_phase_ratio (const std::vector< double > &ratio)

void	set_toe_zmp_offset_x (const double _off)

void	set_use_toe_heel_auto_set (const bool _u)

void	set_use_toe_heel_transition (const bool _u)

void	set_zmp_weight_map (const std::map< leg_type, double > _map)

void	update_refzmp ()

	~refzmp_generator ()

Private Member Functions
void	calc_current_refzmp (hrp::Vector3 &ret, std::vector< hrp::Vector3 > &swing_foot_zmp_offsets, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double default_double_support_static_ratio_before, const double default_double_support_static_ratio_after)

const bool	is_end_double_support_phase () const

const bool	is_second_last_phase () const

const bool	is_second_phase () const

const bool	is_start_double_support_phase () const

Private Attributes
std::vector< hrp::Vector3 >	default_zmp_offsets

double	dt

std::vector< std::vector< hrp::Vector3 > >	foot_x_axises_list

double	heel_zmp_offset_x

size_t	one_step_count

size_t	refzmp_count

std::vector< hrp::Vector3 >	refzmp_cur_list

size_t	refzmp_index

std::vector< size_t >	step_count_list

std::vector< std::vector< leg_type > >	swing_leg_types_list

toe_heel_phase_counter	thp

std::vector< toe_heel_types >	toe_heel_types_list

double	toe_zmp_offset_x

bool	use_toe_heel_auto_set

bool	use_toe_heel_transition

boost::shared_ptr< interpolator >	zmp_weight_interpolator

std::map< leg_type, double >	zmp_weight_map

Detailed Description

Definition at line 282 of file GaitGenerator.h.

Constructor & Destructor Documentation

◆ refzmp_generator()

rats::refzmp_generator::refzmp_generator ( const double _dt )

inline

Definition at line 308 of file GaitGenerator.h.

◆ ~refzmp_generator()

rats::refzmp_generator::~refzmp_generator ( )

inline

Definition at line 324 of file GaitGenerator.h.

Member Function Documentation

◆ calc_current_refzmp()

void rats::refzmp_generator::calc_current_refzmp	(	hrp::Vector3 &	ret,
		std::vector< hrp::Vector3 > &	swing_foot_zmp_offsets,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after,
		const double	default_double_support_static_ratio_before,
		const double	default_double_support_static_ratio_after
	)

private

Definition at line 133 of file GaitGenerator.cpp.

◆ get_current_refzmp()

bool rats::refzmp_generator::get_current_refzmp	(	hrp::Vector3 &	rzmp,
		std::vector< hrp::Vector3 > &	swing_foot_zmp_offsets,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after,
		const double	default_double_support_static_ratio_before,
		const double	default_double_support_static_ratio_after
	)

inline

Definition at line 373 of file GaitGenerator.h.

◆ get_default_zmp_offset()

const hrp::Vector3& rats::refzmp_generator::get_default_zmp_offset ( const leg_type lt ) const

inline

Definition at line 379 of file GaitGenerator.h.

◆ get_heel_zmp_offset_x()

double rats::refzmp_generator::get_heel_zmp_offset_x ( ) const

inline

Definition at line 381 of file GaitGenerator.h.

◆ get_refzmp_cur()

const hrp::Vector3& rats::refzmp_generator::get_refzmp_cur ( ) const

inline

Definition at line 378 of file GaitGenerator.h.

◆ get_toe_zmp_offset_x()

double rats::refzmp_generator::get_toe_zmp_offset_x ( ) const

inline

Definition at line 380 of file GaitGenerator.h.

◆ get_use_toe_heel_auto_set()

bool rats::refzmp_generator::get_use_toe_heel_auto_set ( ) const

inline

Definition at line 383 of file GaitGenerator.h.

◆ get_use_toe_heel_transition()

bool rats::refzmp_generator::get_use_toe_heel_transition ( ) const

inline

Definition at line 382 of file GaitGenerator.h.

◆ get_zmp_weight_map()

const std::map<leg_type, double> rats::refzmp_generator::get_zmp_weight_map ( ) const

inline

Definition at line 384 of file GaitGenerator.h.

◆ is_end_double_support_phase()

const bool rats::refzmp_generator::is_end_double_support_phase ( ) const

inlineprivate

Definition at line 304 of file GaitGenerator.h.

◆ is_second_last_phase()

const bool rats::refzmp_generator::is_second_last_phase ( ) const

inlineprivate

Definition at line 303 of file GaitGenerator.h.

◆ is_second_phase()

const bool rats::refzmp_generator::is_second_phase ( ) const

inlineprivate

Definition at line 302 of file GaitGenerator.h.

◆ is_start_double_support_phase()

const bool rats::refzmp_generator::is_start_double_support_phase ( ) const

inlineprivate

Definition at line 301 of file GaitGenerator.h.

◆ proc_zmp_weight_map_interpolation()

void rats::refzmp_generator::proc_zmp_weight_map_interpolation ( )

inline

Definition at line 385 of file GaitGenerator.h.

◆ push_refzmp_from_footstep_nodes_for_dual()

void rats::refzmp_generator::push_refzmp_from_footstep_nodes_for_dual	(	const std::vector< step_node > &	fns,
		const std::vector< step_node > &	_support_leg_steps,
		const std::vector< step_node > &	_swing_leg_steps
	)

Definition at line 74 of file GaitGenerator.cpp.

◆ push_refzmp_from_footstep_nodes_for_single()

void rats::refzmp_generator::push_refzmp_from_footstep_nodes_for_single	(	const std::vector< step_node > &	fns,
		const std::vector< step_node > &	_support_leg_steps,
		const toe_heel_types &	tht
	)

Definition at line 106 of file GaitGenerator.cpp.

◆ remove_refzmp_cur_list_over_length()

void rats::refzmp_generator::remove_refzmp_cur_list_over_length ( const size_t len )

inline

Definition at line 327 of file GaitGenerator.h.

◆ reset()

void rats::refzmp_generator::reset ( const size_t _refzmp_count )

inline

Definition at line 335 of file GaitGenerator.h.

◆ set_default_zmp_offsets()

void rats::refzmp_generator::set_default_zmp_offsets ( const std::vector< hrp::Vector3 > & tmp )

inline

Definition at line 355 of file GaitGenerator.h.

◆ set_heel_zmp_offset_x()

void rats::refzmp_generator::set_heel_zmp_offset_x ( const double _off )

inline

Definition at line 357 of file GaitGenerator.h.

◆ set_indices()

void rats::refzmp_generator::set_indices ( const size_t idx )

inline

Definition at line 353 of file GaitGenerator.h.

◆ set_refzmp_count()

void rats::refzmp_generator::set_refzmp_count ( const size_t _refzmp_count )

inline

Definition at line 354 of file GaitGenerator.h.

◆ set_toe_heel_phase_ratio()

bool rats::refzmp_generator::set_toe_heel_phase_ratio ( const std::vector< double > & ratio )

inline

Definition at line 371 of file GaitGenerator.h.

◆ set_toe_zmp_offset_x()

void rats::refzmp_generator::set_toe_zmp_offset_x ( const double _off )

inline

Definition at line 356 of file GaitGenerator.h.

◆ set_use_toe_heel_auto_set()

void rats::refzmp_generator::set_use_toe_heel_auto_set ( const bool _u )

inline

Definition at line 359 of file GaitGenerator.h.

◆ set_use_toe_heel_transition()

void rats::refzmp_generator::set_use_toe_heel_transition ( const bool _u )

inline

Definition at line 358 of file GaitGenerator.h.

◆ set_zmp_weight_map()

void rats::refzmp_generator::set_zmp_weight_map ( const std::map< leg_type, double > _map )

inline

Definition at line 360 of file GaitGenerator.h.

◆ update_refzmp()

void rats::refzmp_generator::update_refzmp ( )

Definition at line 207 of file GaitGenerator.cpp.

Member Data Documentation

◆ default_zmp_offsets

std::vector<hrp::Vector3> rats::refzmp_generator::default_zmp_offsets

private

Definition at line 293 of file GaitGenerator.h.

◆ dt

double rats::refzmp_generator::dt

private

Definition at line 296 of file GaitGenerator.h.

◆ foot_x_axises_list

std::vector< std::vector<hrp::Vector3> > rats::refzmp_generator::foot_x_axises_list

private

Definition at line 289 of file GaitGenerator.h.

◆ heel_zmp_offset_x

double rats::refzmp_generator::heel_zmp_offset_x

private

Definition at line 295 of file GaitGenerator.h.

◆ one_step_count

size_t rats::refzmp_generator::one_step_count

private

Definition at line 294 of file GaitGenerator.h.

◆ refzmp_count

size_t rats::refzmp_generator::refzmp_count

private

Definition at line 294 of file GaitGenerator.h.

◆ refzmp_cur_list

std::vector<hrp::Vector3> rats::refzmp_generator::refzmp_cur_list

private

Definition at line 287 of file GaitGenerator.h.

◆ refzmp_index

size_t rats::refzmp_generator::refzmp_index

private

Definition at line 294 of file GaitGenerator.h.

◆ step_count_list

std::vector<size_t> rats::refzmp_generator::step_count_list

private

Definition at line 291 of file GaitGenerator.h.

◆ swing_leg_types_list

std::vector< std::vector<leg_type> > rats::refzmp_generator::swing_leg_types_list

private

Definition at line 290 of file GaitGenerator.h.

◆ thp

toe_heel_phase_counter rats::refzmp_generator::thp

private

Definition at line 297 of file GaitGenerator.h.

◆ toe_heel_types_list

std::vector<toe_heel_types> rats::refzmp_generator::toe_heel_types_list

private

Definition at line 292 of file GaitGenerator.h.

◆ toe_zmp_offset_x

double rats::refzmp_generator::toe_zmp_offset_x

private

Definition at line 295 of file GaitGenerator.h.

◆ use_toe_heel_auto_set

bool rats::refzmp_generator::use_toe_heel_auto_set

private

Definition at line 298 of file GaitGenerator.h.

◆ use_toe_heel_transition

bool rats::refzmp_generator::use_toe_heel_transition

private

Definition at line 298 of file GaitGenerator.h.

◆ zmp_weight_interpolator

boost::shared_ptr<interpolator> rats::refzmp_generator::zmp_weight_interpolator

private

Definition at line 299 of file GaitGenerator.h.

◆ zmp_weight_map

std::map<leg_type, double> rats::refzmp_generator::zmp_weight_map

private

Definition at line 288 of file GaitGenerator.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ refzmp_generator()

◆ ~refzmp_generator()

Member Function Documentation

◆ calc_current_refzmp()

◆ get_current_refzmp()

◆ get_default_zmp_offset()

◆ get_heel_zmp_offset_x()

◆ get_refzmp_cur()

◆ get_toe_zmp_offset_x()

◆ get_use_toe_heel_auto_set()

◆ get_use_toe_heel_transition()

◆ get_zmp_weight_map()

◆ is_end_double_support_phase()

◆ is_second_last_phase()

◆ is_second_phase()

◆ is_start_double_support_phase()

◆ proc_zmp_weight_map_interpolation()

◆ push_refzmp_from_footstep_nodes_for_dual()

◆ push_refzmp_from_footstep_nodes_for_single()

◆ remove_refzmp_cur_list_over_length()

◆ reset()

◆ set_default_zmp_offsets()

◆ set_heel_zmp_offset_x()

◆ set_indices()

◆ set_refzmp_count()

◆ set_toe_heel_phase_ratio()

◆ set_toe_zmp_offset_x()

◆ set_use_toe_heel_auto_set()

◆ set_use_toe_heel_transition()

◆ set_zmp_weight_map()

◆ update_refzmp()

Member Data Documentation

◆ default_zmp_offsets

◆ dt

◆ foot_x_axises_list

◆ heel_zmp_offset_x

◆ one_step_count

◆ refzmp_count

◆ refzmp_cur_list

◆ refzmp_index

◆ step_count_list

◆ swing_leg_types_list

◆ thp

◆ toe_heel_types_list

◆ toe_zmp_offset_x

◆ use_toe_heel_auto_set

◆ use_toe_heel_transition

◆ zmp_weight_interpolator

◆ zmp_weight_map