Public Member Functions | Public Attributes | Protected Attributes | Private Member Functions | List of all members
testGaitGenerator Class Reference
Inheritance diagram for testGaitGenerator:
Inheritance graph
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Public Member Functions

bool check_all_results () const
 
void parse_params (bool is_print_doc_setring=true)
 
void test0 ()
 
void test1 ()
 
void test10 ()
 
void test11 ()
 
void test12 ()
 
void test13 ()
 
void test14 ()
 
void test15 ()
 
void test16 ()
 
void test17 ()
 
void test18 ()
 
void test19 ()
 
void test2 ()
 
void test20 ()
 
void test3 ()
 
void test4 ()
 
void test5 ()
 
void test6 ()
 
void test7 ()
 
void test8 ()
 
void test9 ()
 
 testGaitGenerator (double _dt)
 
virtual ~testGaitGenerator ()
 

Public Attributes

std::vector< std::string > arg_strs
 

Protected Attributes

std::vector< std::string > all_limbs
 
ValueDifferenceChecker< hrp::Vector3 > cartzmp_diff_checker
 
hrp::Vector3 cog
 
ValueDifferenceChecker< hrp::Vector3 > cog_diff_checker
 
ValueErrorChecker cogzmp_error_checker
 
double dt
 
std::string fname_cogzmp
 
std::string fname_fpos
 
std::string fname_fposvel
 
std::string fname_frot
 
std::string fname_frotvel
 
std::string fname_ssmc
 
std::string fname_ssmcvel
 
std::string fname_sstime
 
std::string fname_thpos
 
std::string fname_zoff
 
ValueDifferenceChecker< std::vector< hrp::Vector3 > > footpos_diff_checker
 
ValueDifferenceChecker< std::vector< hrp::Vector3 > > footposvel_diff_checker
 
ValueDifferenceChecker< std::vector< hrp::Vector3 > > footrot_diff_checker
 
ValueDifferenceChecker< std::vector< hrp::Vector3 > > footrotvel_diff_checker
 
FILE * fp_cogzmp
 
FILE * fp_fpos
 
FILE * fp_fposvel
 
FILE * fp_frot
 
FILE * fp_frotvel
 
FILE * fp_ssmc
 
FILE * fp_ssmcvel
 
FILE * fp_sstime
 
FILE * fp_thpos
 
FILE * fp_zoff
 
gait_generator * gg
 
bool is_contact_states_swing_support_time_validity
 
bool is_step_time_valid
 
bool is_toe_heel_dif_angle_valid
 
bool is_toe_heel_zmp_offset_x_valid
 
std::vector< hrp::Vector3 > leg_pos
 
hrp::Vector3 max_lfoot_pos
 
hrp::Vector3 max_rfoot_pos
 
double max_toe_heel_dif_angle
 
std::vector< double > max_toe_heel_dif_angle_list
 
double max_zmp_offset_x
 
std::vector< double > max_zmp_offset_x_list
 
hrp::Vector3 min_lfoot_pos
 
hrp::Vector3 min_rfoot_pos
 
double min_toe_heel_dif_angle
 
std::vector< double > min_toe_heel_dif_angle_list
 
double min_zmp_offset_x
 
std::vector< double > min_zmp_offset_x_list
 
std::vector< bool > prev_contact_states
 
hrp::Vector3 prev_lfoot_pos
 
hrp::Vector3 prev_lfoot_rpy
 
hrp::Vector3 prev_refzmp
 
hrp::Vector3 prev_rfoot_pos
 
hrp::Vector3 prev_rfoot_rpy
 
coordinates prev_ssmc
 
std::vector< double > prev_swing_support_time
 
ValueDifferenceChecker< hrp::Vector3 > refzmp_diff_checker
 
ValueDifferenceChecker< hrp::Vector3 > ssmcpos_diff_checker
 
ValueDifferenceChecker< hrp::Vector3 > ssmcposvel_diff_checker
 
ValueDifferenceChecker< hrp::Vector3 > ssmcrot_diff_checker
 
ValueDifferenceChecker< hrp::Vector3 > ssmcrotvel_diff_checker
 
std::vector< double > step_time_list
 
std::string test_doc_string
 
bool use_gnuplot
 
bool use_graph_append
 
ValueErrorChecker zmp_error_checker
 
ValueDifferenceChecker< std::vector< hrp::Vector3 > > zmpoffset_diff_checker
 

Private Member Functions

void check_end_values ()
 
void check_start_values ()
 
void gen_and_plot_walk_pattern (const step_node &initial_support_leg_step, const step_node &initial_swing_leg_dst_step)
 
void gen_and_plot_walk_pattern ()
 
void plot_and_print_errorcheck ()
 
void plot_and_save (FILE *gp, const std::string graph_fname, const std::string plot_str)
 
void proc_one_walking_motion (size_t i)
 

Detailed Description

Definition at line 100 of file testGaitGenerator.cpp.

Constructor & Destructor Documentation

◆ testGaitGenerator()

testGaitGenerator::testGaitGenerator ( double  _dt)
inline

Definition at line 797 of file testGaitGenerator.cpp.

◆ ~testGaitGenerator()

virtual testGaitGenerator::~testGaitGenerator ( )
inlinevirtual

Definition at line 821 of file testGaitGenerator.cpp.

Member Function Documentation

◆ check_all_results()

bool testGaitGenerator::check_all_results ( ) const
inline

Definition at line 1345 of file testGaitGenerator.cpp.

◆ check_end_values()

void testGaitGenerator::check_end_values ( )
inlineprivate

Definition at line 706 of file testGaitGenerator.cpp.

◆ check_start_values()

void testGaitGenerator::check_start_values ( )
inlineprivate

Definition at line 699 of file testGaitGenerator.cpp.

◆ gen_and_plot_walk_pattern() [1/2]

void testGaitGenerator::gen_and_plot_walk_pattern ( const step_node &  initial_support_leg_step,
const step_node &  initial_swing_leg_dst_step 
)
inlineprivate

Definition at line 763 of file testGaitGenerator.cpp.

◆ gen_and_plot_walk_pattern() [2/2]

void testGaitGenerator::gen_and_plot_walk_pattern ( )
inlineprivate

Definition at line 781 of file testGaitGenerator.cpp.

◆ parse_params()

void testGaitGenerator::parse_params ( bool  is_print_doc_setring = true)
inline

Definition at line 1265 of file testGaitGenerator.cpp.

◆ plot_and_print_errorcheck()

void testGaitGenerator::plot_and_print_errorcheck ( )
inlineprivate

Definition at line 421 of file testGaitGenerator.cpp.

◆ plot_and_save()

void testGaitGenerator::plot_and_save ( FILE *  gp,
const std::string  graph_fname,
const std::string  plot_str 
)
inlineprivate

Definition at line 155 of file testGaitGenerator.cpp.

◆ proc_one_walking_motion()

void testGaitGenerator::proc_one_walking_motion ( size_t  i)
inlineprivate

Definition at line 165 of file testGaitGenerator.cpp.

◆ test0()

void testGaitGenerator::test0 ( )
inline

Definition at line 839 of file testGaitGenerator.cpp.

◆ test1()

void testGaitGenerator::test1 ( )
inline

Definition at line 854 of file testGaitGenerator.cpp.

◆ test10()

void testGaitGenerator::test10 ( )
inline

Definition at line 1015 of file testGaitGenerator.cpp.

◆ test11()

void testGaitGenerator::test11 ( )
inline

Definition at line 1048 of file testGaitGenerator.cpp.

◆ test12()

void testGaitGenerator::test12 ( )
inline

Definition at line 1064 of file testGaitGenerator.cpp.

◆ test13()

void testGaitGenerator::test13 ( )
inline

Definition at line 1081 of file testGaitGenerator.cpp.

◆ test14()

void testGaitGenerator::test14 ( )
inline

Definition at line 1097 of file testGaitGenerator.cpp.

◆ test15()

void testGaitGenerator::test15 ( )
inline

Definition at line 1110 of file testGaitGenerator.cpp.

◆ test16()

void testGaitGenerator::test16 ( )
inline

Definition at line 1131 of file testGaitGenerator.cpp.

◆ test17()

void testGaitGenerator::test17 ( )
inline

Definition at line 1165 of file testGaitGenerator.cpp.

◆ test18()

void testGaitGenerator::test18 ( )
inline

Definition at line 1193 of file testGaitGenerator.cpp.

◆ test19()

void testGaitGenerator::test19 ( )
inline

Definition at line 1231 of file testGaitGenerator.cpp.

◆ test2()

void testGaitGenerator::test2 ( )
inline

Definition at line 866 of file testGaitGenerator.cpp.

◆ test20()

void testGaitGenerator::test20 ( )
inline

Definition at line 1248 of file testGaitGenerator.cpp.

◆ test3()

void testGaitGenerator::test3 ( )
inline

Definition at line 878 of file testGaitGenerator.cpp.

◆ test4()

void testGaitGenerator::test4 ( )
inline

Definition at line 890 of file testGaitGenerator.cpp.

◆ test5()

void testGaitGenerator::test5 ( )
inline

Definition at line 902 of file testGaitGenerator.cpp.

◆ test6()

void testGaitGenerator::test6 ( )
inline

Definition at line 919 of file testGaitGenerator.cpp.

◆ test7()

void testGaitGenerator::test7 ( )
inline

Definition at line 932 of file testGaitGenerator.cpp.

◆ test8()

void testGaitGenerator::test8 ( )
inline

Definition at line 958 of file testGaitGenerator.cpp.

◆ test9()

void testGaitGenerator::test9 ( )
inline

Definition at line 994 of file testGaitGenerator.cpp.

Member Data Documentation

◆ all_limbs

std::vector<std::string> testGaitGenerator::all_limbs
protected

Definition at line 105 of file testGaitGenerator.cpp.

◆ arg_strs

std::vector<std::string> testGaitGenerator::arg_strs

Definition at line 796 of file testGaitGenerator.cpp.

◆ cartzmp_diff_checker

ValueDifferenceChecker< hrp::Vector3 > testGaitGenerator::cartzmp_diff_checker
protected

Definition at line 120 of file testGaitGenerator.cpp.

◆ cog

hrp::Vector3 testGaitGenerator::cog
protected

Definition at line 106 of file testGaitGenerator.cpp.

◆ cog_diff_checker

ValueDifferenceChecker< hrp::Vector3 > testGaitGenerator::cog_diff_checker
protected

Definition at line 120 of file testGaitGenerator.cpp.

◆ cogzmp_error_checker

ValueErrorChecker testGaitGenerator::cogzmp_error_checker
protected

Definition at line 123 of file testGaitGenerator.cpp.

◆ dt

double testGaitGenerator::dt
protected

Definition at line 103 of file testGaitGenerator.cpp.

◆ fname_cogzmp

std::string testGaitGenerator::fname_cogzmp
protected

Definition at line 129 of file testGaitGenerator.cpp.

◆ fname_fpos

std::string testGaitGenerator::fname_fpos
protected

Definition at line 131 of file testGaitGenerator.cpp.

◆ fname_fposvel

std::string testGaitGenerator::fname_fposvel
protected

Definition at line 137 of file testGaitGenerator.cpp.

◆ fname_frot

std::string testGaitGenerator::fname_frot
protected

Definition at line 133 of file testGaitGenerator.cpp.

◆ fname_frotvel

std::string testGaitGenerator::fname_frotvel
protected

Definition at line 139 of file testGaitGenerator.cpp.

◆ fname_ssmc

std::string testGaitGenerator::fname_ssmc
protected

Definition at line 145 of file testGaitGenerator.cpp.

◆ fname_ssmcvel

std::string testGaitGenerator::fname_ssmcvel
protected

Definition at line 147 of file testGaitGenerator.cpp.

◆ fname_sstime

std::string testGaitGenerator::fname_sstime
protected

Definition at line 143 of file testGaitGenerator.cpp.

◆ fname_thpos

std::string testGaitGenerator::fname_thpos
protected

Definition at line 141 of file testGaitGenerator.cpp.

◆ fname_zoff

std::string testGaitGenerator::fname_zoff
protected

Definition at line 135 of file testGaitGenerator.cpp.

◆ footpos_diff_checker

ValueDifferenceChecker< std::vector<hrp::Vector3> > testGaitGenerator::footpos_diff_checker
protected

Definition at line 121 of file testGaitGenerator.cpp.

◆ footposvel_diff_checker

ValueDifferenceChecker< std::vector<hrp::Vector3> > testGaitGenerator::footposvel_diff_checker
protected

Definition at line 121 of file testGaitGenerator.cpp.

◆ footrot_diff_checker

ValueDifferenceChecker< std::vector<hrp::Vector3> > testGaitGenerator::footrot_diff_checker
protected

Definition at line 121 of file testGaitGenerator.cpp.

◆ footrotvel_diff_checker

ValueDifferenceChecker< std::vector<hrp::Vector3> > testGaitGenerator::footrotvel_diff_checker
protected

Definition at line 121 of file testGaitGenerator.cpp.

◆ fp_cogzmp

FILE* testGaitGenerator::fp_cogzmp
protected

Definition at line 130 of file testGaitGenerator.cpp.

◆ fp_fpos

FILE* testGaitGenerator::fp_fpos
protected

Definition at line 132 of file testGaitGenerator.cpp.

◆ fp_fposvel

FILE* testGaitGenerator::fp_fposvel
protected

Definition at line 138 of file testGaitGenerator.cpp.

◆ fp_frot

FILE* testGaitGenerator::fp_frot
protected

Definition at line 134 of file testGaitGenerator.cpp.

◆ fp_frotvel

FILE* testGaitGenerator::fp_frotvel
protected

Definition at line 140 of file testGaitGenerator.cpp.

◆ fp_ssmc

FILE* testGaitGenerator::fp_ssmc
protected

Definition at line 146 of file testGaitGenerator.cpp.

◆ fp_ssmcvel

FILE* testGaitGenerator::fp_ssmcvel
protected

Definition at line 148 of file testGaitGenerator.cpp.

◆ fp_sstime

FILE* testGaitGenerator::fp_sstime
protected

Definition at line 144 of file testGaitGenerator.cpp.

◆ fp_thpos

FILE* testGaitGenerator::fp_thpos
protected

Definition at line 142 of file testGaitGenerator.cpp.

◆ fp_zoff

FILE* testGaitGenerator::fp_zoff
protected

Definition at line 136 of file testGaitGenerator.cpp.

◆ gg

gait_generator* testGaitGenerator::gg
protected

Definition at line 107 of file testGaitGenerator.cpp.

◆ is_contact_states_swing_support_time_validity

bool testGaitGenerator::is_contact_states_swing_support_time_validity
protected

Definition at line 118 of file testGaitGenerator.cpp.

◆ is_step_time_valid

bool testGaitGenerator::is_step_time_valid
protected

Definition at line 126 of file testGaitGenerator.cpp.

◆ is_toe_heel_dif_angle_valid

bool testGaitGenerator::is_toe_heel_dif_angle_valid
protected

Definition at line 126 of file testGaitGenerator.cpp.

◆ is_toe_heel_zmp_offset_x_valid

bool testGaitGenerator::is_toe_heel_zmp_offset_x_valid
protected

Definition at line 126 of file testGaitGenerator.cpp.

◆ leg_pos

std::vector<hrp::Vector3> testGaitGenerator::leg_pos
protected

Definition at line 104 of file testGaitGenerator.cpp.

◆ max_lfoot_pos

hrp::Vector3 testGaitGenerator::max_lfoot_pos
protected

Definition at line 111 of file testGaitGenerator.cpp.

◆ max_rfoot_pos

hrp::Vector3 testGaitGenerator::max_rfoot_pos
protected

Definition at line 111 of file testGaitGenerator.cpp.

◆ max_toe_heel_dif_angle

double testGaitGenerator::max_toe_heel_dif_angle
protected

Definition at line 116 of file testGaitGenerator.cpp.

◆ max_toe_heel_dif_angle_list

std::vector<double> testGaitGenerator::max_toe_heel_dif_angle_list
protected

Definition at line 125 of file testGaitGenerator.cpp.

◆ max_zmp_offset_x

double testGaitGenerator::max_zmp_offset_x
protected

Definition at line 116 of file testGaitGenerator.cpp.

◆ max_zmp_offset_x_list

std::vector<double> testGaitGenerator::max_zmp_offset_x_list
protected

Definition at line 125 of file testGaitGenerator.cpp.

◆ min_lfoot_pos

hrp::Vector3 testGaitGenerator::min_lfoot_pos
protected

Definition at line 111 of file testGaitGenerator.cpp.

◆ min_rfoot_pos

hrp::Vector3 testGaitGenerator::min_rfoot_pos
protected

Definition at line 111 of file testGaitGenerator.cpp.

◆ min_toe_heel_dif_angle

double testGaitGenerator::min_toe_heel_dif_angle
protected

Definition at line 116 of file testGaitGenerator.cpp.

◆ min_toe_heel_dif_angle_list

std::vector<double> testGaitGenerator::min_toe_heel_dif_angle_list
protected

Definition at line 125 of file testGaitGenerator.cpp.

◆ min_zmp_offset_x

double testGaitGenerator::min_zmp_offset_x
protected

Definition at line 116 of file testGaitGenerator.cpp.

◆ min_zmp_offset_x_list

std::vector<double> testGaitGenerator::min_zmp_offset_x_list
protected

Definition at line 125 of file testGaitGenerator.cpp.

◆ prev_contact_states

std::vector<bool> testGaitGenerator::prev_contact_states
protected

Definition at line 114 of file testGaitGenerator.cpp.

◆ prev_lfoot_pos

hrp::Vector3 testGaitGenerator::prev_lfoot_pos
protected

Definition at line 110 of file testGaitGenerator.cpp.

◆ prev_lfoot_rpy

hrp::Vector3 testGaitGenerator::prev_lfoot_rpy
protected

Definition at line 110 of file testGaitGenerator.cpp.

◆ prev_refzmp

hrp::Vector3 testGaitGenerator::prev_refzmp
protected

Definition at line 112 of file testGaitGenerator.cpp.

◆ prev_rfoot_pos

hrp::Vector3 testGaitGenerator::prev_rfoot_pos
protected

Definition at line 110 of file testGaitGenerator.cpp.

◆ prev_rfoot_rpy

hrp::Vector3 testGaitGenerator::prev_rfoot_rpy
protected

Definition at line 110 of file testGaitGenerator.cpp.

◆ prev_ssmc

coordinates testGaitGenerator::prev_ssmc
protected

Definition at line 113 of file testGaitGenerator.cpp.

◆ prev_swing_support_time

std::vector<double> testGaitGenerator::prev_swing_support_time
protected

Definition at line 115 of file testGaitGenerator.cpp.

◆ refzmp_diff_checker

ValueDifferenceChecker< hrp::Vector3 > testGaitGenerator::refzmp_diff_checker
protected

Definition at line 120 of file testGaitGenerator.cpp.

◆ ssmcpos_diff_checker

ValueDifferenceChecker< hrp::Vector3 > testGaitGenerator::ssmcpos_diff_checker
protected

Definition at line 120 of file testGaitGenerator.cpp.

◆ ssmcposvel_diff_checker

ValueDifferenceChecker< hrp::Vector3 > testGaitGenerator::ssmcposvel_diff_checker
protected

Definition at line 120 of file testGaitGenerator.cpp.

◆ ssmcrot_diff_checker

ValueDifferenceChecker< hrp::Vector3 > testGaitGenerator::ssmcrot_diff_checker
protected

Definition at line 120 of file testGaitGenerator.cpp.

◆ ssmcrotvel_diff_checker

ValueDifferenceChecker< hrp::Vector3 > testGaitGenerator::ssmcrotvel_diff_checker
protected

Definition at line 120 of file testGaitGenerator.cpp.

◆ step_time_list

std::vector<double> testGaitGenerator::step_time_list
protected

Definition at line 125 of file testGaitGenerator.cpp.

◆ test_doc_string

std::string testGaitGenerator::test_doc_string
protected

Definition at line 128 of file testGaitGenerator.cpp.

◆ use_gnuplot

bool testGaitGenerator::use_gnuplot
protected

Definition at line 108 of file testGaitGenerator.cpp.

◆ use_graph_append

bool testGaitGenerator::use_graph_append
protected

Definition at line 108 of file testGaitGenerator.cpp.

◆ zmp_error_checker

ValueErrorChecker testGaitGenerator::zmp_error_checker
protected

Definition at line 123 of file testGaitGenerator.cpp.

◆ zmpoffset_diff_checker

ValueDifferenceChecker< std::vector<hrp::Vector3> > testGaitGenerator::zmpoffset_diff_checker
protected

Definition at line 121 of file testGaitGenerator.cpp.

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

hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:22