towr::GaitGenerator Class Reference

Generates endeffector phase durations for predefined gait styles. More...

#include <gait_generator.h>

Inheritance diagram for towr::GaitGenerator:

Public Types
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 >

Public Member Functions
	GaitGenerator ()=default
VecTimes	GetPhaseDurations (double T, EE ee) const
bool	IsInContactAtStart (EE ee) const
virtual void	SetCombo (Combos combo)=0
	Sets a specific sequence of gaits. More...
void	SetGaits (const std::vector< Gaits > &gaits)
	Sets the times_ and contacts_ variables according to the gaits. More...
virtual	~GaitGenerator ()=default

Static Public Member Functions
static Ptr	MakeGaitGenerator (int leg_count)

Protected Member Functions
GaitInfo	RemoveTransition (const GaitInfo &g) const

Protected Attributes
std::vector< ContactState >	contacts_
std::vector< double >	times_
	Phase times for the complete robot during which no contact state changes. More...

Private Member Functions
virtual GaitInfo	GetGait (Gaits gait) const =0
VecTimes	GetNormalizedPhaseDurations (EE ee) const
FootDurations	GetPhaseDurations () const

Detailed Description

Generates endeffector phase durations for predefined gait styles.

These gaits (e.g. quadruped trotting, biped walking) are used to initialize the towr optimization problem.

Definition at line 46 of file gait_generator.h.

Member Typedef Documentation

ContactState

using towr::GaitGenerator::ContactState = std::vector<bool>

Definition at line 51 of file gait_generator.h.

EE

using towr::GaitGenerator::EE = uint

Definition at line 53 of file gait_generator.h.

FootDurations

using towr::GaitGenerator::FootDurations = std::vector<VecTimes>

Definition at line 50 of file gait_generator.h.

GaitInfo

using towr::GaitGenerator::GaitInfo = std::pair<VecTimes,std::vector<ContactState> >

Definition at line 52 of file gait_generator.h.

Ptr

using towr::GaitGenerator::Ptr = std::shared_ptr<GaitGenerator>

Definition at line 48 of file gait_generator.h.

VecTimes

using towr::GaitGenerator::VecTimes = std::vector<double>

Definition at line 49 of file gait_generator.h.

Member Enumeration Documentation

Combos

enum towr::GaitGenerator::Combos

Predefined combinations of different strides.

Enumerator
C0
C1
C2
C3
C4
COMBO_COUNT

Definition at line 58 of file gait_generator.h.

Gaits

enum towr::GaitGenerator::Gaits

Predefined strides, each with a different gait diagram.

Enumerator
Stand
Flight
Walk1
Walk2
Walk2E
Run2
Run2E
Run1
Run1E
Run3
Run3E
Hop1
Hop1E
Hop2
Hop3
Hop3E
Hop5
Hop5E
GAIT_COUNT

Definition at line 63 of file gait_generator.h.

Constructor & Destructor Documentation

GaitGenerator()

towr::GaitGenerator::GaitGenerator ( )

default

~GaitGenerator()

virtual towr::GaitGenerator::~GaitGenerator ( )

virtualdefault

Member Function Documentation

GetGait()

virtual GaitInfo towr::GaitGenerator::GetGait ( Gaits  gait ) const

privatepure virtual

Implemented in towr::BipedGaitGenerator, towr::MonopedGaitGenerator, and towr::QuadrupedGaitGenerator.

GetNormalizedPhaseDurations()

GaitGenerator::VecTimes towr::GaitGenerator::GetNormalizedPhaseDurations ( EE  ee ) const

private

Definition at line 66 of file gait_generator.cc.

GetPhaseDurations() [1/2]

GaitGenerator::VecTimes towr::GaitGenerator::GetPhaseDurations	(	double	T,
		EE	ee
	)		const

Returns

the swing and stance durations for the set gait.

Parameters

ee	endeffector for which the phase durations are desired.
T	total time for all phases, durations are scaled by that.

Definition at line 55 of file gait_generator.cc.

GetPhaseDurations() [2/2]

GaitGenerator::FootDurations towr::GaitGenerator::GetPhaseDurations ( ) const

private

Definition at line 77 of file gait_generator.cc.

IsInContactAtStart()

bool towr::GaitGenerator::IsInContactAtStart

(

EE

ee

)

const

Returns

true if the foot is initially in contact with the environment.

Parameters

ee	The endeffector/foot/hand.

Definition at line 108 of file gait_generator.cc.

MakeGaitGenerator()

GaitGenerator::Ptr towr::GaitGenerator::MakeGaitGenerator ( int  leg_count )

static

Definition at line 44 of file gait_generator.cc.

RemoveTransition()

GaitGenerator::GaitInfo towr::GaitGenerator::RemoveTransition ( const GaitInfo &  g ) const

protected

Removes the last phase that would transition to a new stride. This is usually necessary for a gait change.

Definition at line 132 of file gait_generator.cc.

SetCombo()

virtual void towr::GaitGenerator::SetCombo ( Combos  combo )

pure virtual

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.

Implemented in towr::QuadrupedGaitGenerator, towr::BipedGaitGenerator, and towr::MonopedGaitGenerator.

SetGaits()

void towr::GaitGenerator::SetGaits

(

const std::vector< Gaits > &

gaits

)

Sets the times_ and contacts_ variables according to the gaits.

Parameters

gaits

The sequence of steps which defines gait. For example use {Stand,Walk1,Walk1,Stand} to declare walking gait with two steps.

Definition at line 114 of file gait_generator.cc.

Member Data Documentation

contacts_

std::vector<ContactState> towr::GaitGenerator::contacts_

protected

The contact state for the complete robot. The size of this vector must be equal to the above times_.

Definition at line 109 of file gait_generator.h.

times_

std::vector<double> towr::GaitGenerator::times_

protected

Phase times for the complete robot during which no contact state changes.

Definition at line 103 of file gait_generator.h.

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

• gait_generator.h
• gait_generator.cc