Public Member Functions | Private Member Functions | Private Attributes | List of all members
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:
Inheritance graph
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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< ContactStatecontacts_
 
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:


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22