Public Member Functions | Private Member Functions | Private Attributes | List of all members
towr::MonopedGaitGenerator Class Reference

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

#include <monoped_gait_generator.h>

Inheritance diagram for towr::MonopedGaitGenerator:
Inheritance graph
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Public Member Functions

 MonopedGaitGenerator ()=default
 
virtual ~MonopedGaitGenerator ()=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 GetStrideHop () const
 
GaitInfo GetStrideHopLong () const
 
GaitInfo GetStrideStand () const
 
void SetCombo (Combos combo) override
 Sets a specific sequence of gaits. More...
 

Private Attributes

ContactState o_ = ContactState(1, true)
 
ContactState x_ = ContactState(1, false)
 

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 one-legged gaits.

See also
GaitGenerator for more documentation

Definition at line 42 of file monoped_gait_generator.h.

Constructor & Destructor Documentation

◆ MonopedGaitGenerator()

towr::MonopedGaitGenerator::MonopedGaitGenerator ( )
default

◆ ~MonopedGaitGenerator()

virtual towr::MonopedGaitGenerator::~MonopedGaitGenerator ( )
virtualdefault

Member Function Documentation

◆ GetGait()

MonopedGaitGenerator::GaitInfo towr::MonopedGaitGenerator::GetGait ( Gaits  gait) const
overrideprivatevirtual

Implements towr::GaitGenerator.

Definition at line 51 of file monoped_gait_generator.cc.

◆ GetStrideFlight()

MonopedGaitGenerator::GaitInfo towr::MonopedGaitGenerator::GetStrideFlight ( ) const
private

Definition at line 78 of file monoped_gait_generator.cc.

◆ GetStrideHop()

MonopedGaitGenerator::GaitInfo towr::MonopedGaitGenerator::GetStrideHop ( ) const
private

Definition at line 93 of file monoped_gait_generator.cc.

◆ GetStrideHopLong()

MonopedGaitGenerator::GaitInfo towr::MonopedGaitGenerator::GetStrideHopLong ( ) const
private

Definition at line 108 of file monoped_gait_generator.cc.

◆ GetStrideStand()

MonopedGaitGenerator::GaitInfo towr::MonopedGaitGenerator::GetStrideStand ( ) const
private

Definition at line 63 of file monoped_gait_generator.cc.

◆ SetCombo()

void towr::MonopedGaitGenerator::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 38 of file monoped_gait_generator.cc.

Member Data Documentation

◆ o_

ContactState towr::MonopedGaitGenerator::o_ = ContactState(1, true)
private

Definition at line 55 of file monoped_gait_generator.h.

◆ x_

ContactState towr::MonopedGaitGenerator::x_ = ContactState(1, false)
private

Definition at line 56 of file monoped_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