rats::stair_delay_hoffarbib_trajectory_generator Class Reference

#include <GaitGenerator.h>

Inheritance diagram for rats::stair_delay_hoffarbib_trajectory_generator:

Public Member Functions
hrp::Vector3	get_stair_trajectory_way_point_offset () const
void	set_stair_trajectory_way_point_offset (const hrp::Vector3 _offset)
	stair_delay_hoffarbib_trajectory_generator ()
	~stair_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 ()

Private Member Functions
double	calc_antecedent_path (const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height)

Private Attributes
hrp::Vector3	way_point_offset

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 560 of file GaitGenerator.h.

Constructor & Destructor Documentation

stair_delay_hoffarbib_trajectory_generator()

rats::stair_delay_hoffarbib_trajectory_generator::stair_delay_hoffarbib_trajectory_generator ( )

inline

Definition at line 588 of file GaitGenerator.h.

~stair_delay_hoffarbib_trajectory_generator()

rats::stair_delay_hoffarbib_trajectory_generator::~stair_delay_hoffarbib_trajectory_generator ( )

inline

Definition at line 589 of file GaitGenerator.h.

Member Function Documentation

calc_antecedent_path()

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

inlineprivatevirtual

Implements rats::delay_hoffarbib_trajectory_generator.

Definition at line 563 of file GaitGenerator.h.

get_stair_trajectory_way_point_offset()

hrp::Vector3 rats::stair_delay_hoffarbib_trajectory_generator::get_stair_trajectory_way_point_offset ( ) const

inline

Definition at line 591 of file GaitGenerator.h.

set_stair_trajectory_way_point_offset()

void rats::stair_delay_hoffarbib_trajectory_generator::set_stair_trajectory_way_point_offset ( const hrp::Vector3  _offset )

inline

Definition at line 590 of file GaitGenerator.h.

Member Data Documentation

way_point_offset

hrp::Vector3 rats::stair_delay_hoffarbib_trajectory_generator::way_point_offset

private

Definition at line 562 of file GaitGenerator.h.

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

• GaitGenerator.h