towr::BipedGaitGenerator Class Reference

Produces the contact sequence for a variety of two-legged gaits. More...

#include <biped_gait_generator.h>

Inheritance diagram for towr::BipedGaitGenerator:

Public Member Functions
	BipedGaitGenerator ()
virtual	~BipedGaitGenerator ()=default
Public Member Functions inherited from towr::GaitGenerator
	GaitGenerator ()=default
VecTimes	GetPhaseDurations (double T, EE ee) const
bool	IsInContactAtStart (EE ee) const
void	SetGaits (const std::vector< Gaits > &gaits)
	Sets the times_ and contacts_ variables according to the gaits. More...
virtual	~GaitGenerator ()=default

Private Member Functions
GaitInfo	GetGait (Gaits gait) const override
GaitInfo	GetStrideFlight () const
GaitInfo	GetStrideGallopHop () const
GaitInfo	GetStrideHop () const
GaitInfo	GetStrideLeftHop () const
GaitInfo	GetStrideRightHop () const
GaitInfo	GetStrideRun () const
GaitInfo	GetStrideStand () const
GaitInfo	GetStrideWalk () const
void	SetCombo (Combos combo) override
	Sets a specific sequence of gaits. More...

Private Attributes
ContactState	b_
ContactState	B_
ContactState	I_
ContactState	P_

Additional Inherited Members
Public Types inherited from towr::GaitGenerator
enum	Combos {   C0, C1, C2, C3,   C4, COMBO_COUNT }
	Predefined combinations of different strides. More...
using	ContactState = std::vector< bool >
using	EE = uint
using	FootDurations = std::vector< VecTimes >
using	GaitInfo = std::pair< VecTimes, std::vector< ContactState > >
enum	Gaits {   Stand =0, Flight, Walk1, Walk2,   Walk2E, Run2, Run2E, Run1,   Run1E, Run3, Run3E, Hop1,   Hop1E, Hop2, Hop3, Hop3E,   Hop5, Hop5E, GAIT_COUNT }
	Predefined strides, each with a different gait diagram. More...
using	Ptr = std::shared_ptr< GaitGenerator >
using	VecTimes = std::vector< double >
Static Public Member Functions inherited from towr::GaitGenerator
static Ptr	MakeGaitGenerator (int leg_count)
Protected Member Functions inherited from towr::GaitGenerator
GaitInfo	RemoveTransition (const GaitInfo &g) const
Protected Attributes inherited from towr::GaitGenerator
std::vector< ContactState >	contacts_
std::vector< double >	times_
	Phase times for the complete robot during which no contact state changes. More...

Detailed Description

Produces the contact sequence for a variety of two-legged gaits.

See also

GaitGenerator for more documentation

Definition at line 42 of file biped_gait_generator.h.

Constructor & Destructor Documentation

BipedGaitGenerator()

towr::BipedGaitGenerator::BipedGaitGenerator

(

)

Definition at line 39 of file biped_gait_generator.cc.

~BipedGaitGenerator()

virtual towr::BipedGaitGenerator::~BipedGaitGenerator ( )

virtualdefault

Member Function Documentation

GetGait()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetGait ( Gaits  gait ) const

overrideprivatevirtual

Implements towr::GaitGenerator.

Definition at line 65 of file biped_gait_generator.cc.

GetStrideFlight()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetStrideFlight ( ) const

private

Definition at line 98 of file biped_gait_generator.cc.

GetStrideGallopHop()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetStrideGallopHop ( ) const

private

Definition at line 170 of file biped_gait_generator.cc.

GetStrideHop()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetStrideHop ( ) const

private

Definition at line 152 of file biped_gait_generator.cc.

GetStrideLeftHop()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetStrideLeftHop ( ) const

private

Definition at line 191 of file biped_gait_generator.cc.

GetStrideRightHop()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetStrideRightHop ( ) const

private

Definition at line 210 of file biped_gait_generator.cc.

GetStrideRun()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetStrideRun ( ) const

private

Definition at line 132 of file biped_gait_generator.cc.

GetStrideStand()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetStrideStand ( ) const

private

Definition at line 83 of file biped_gait_generator.cc.

GetStrideWalk()

BipedGaitGenerator::GaitInfo towr::BipedGaitGenerator::GetStrideWalk ( ) const

private

Definition at line 113 of file biped_gait_generator.cc.

SetCombo()

void towr::BipedGaitGenerator::SetCombo ( Combos  combo )

overrideprivatevirtual

Sets a specific sequence of gaits.

The derived class decides what each combo maps to. This function then fills the times_ and contacts_ variables accordingly.

Implements towr::GaitGenerator.

Definition at line 52 of file biped_gait_generator.cc.

Member Data Documentation

b_

ContactState towr::BipedGaitGenerator::b_

private

Definition at line 63 of file biped_gait_generator.h.

B_

ContactState towr::BipedGaitGenerator::B_

private

Definition at line 65 of file biped_gait_generator.h.

I_

ContactState towr::BipedGaitGenerator::I_

private

Definition at line 62 of file biped_gait_generator.h.

P_

ContactState towr::BipedGaitGenerator::P_

private

Definition at line 64 of file biped_gait_generator.h.

---

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

• biped_gait_generator.h
• biped_gait_generator.cc