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

#include <quadruped_gait_generator.h>

Inheritance diagram for towr::QuadrupedGaitGenerator:

Public Member Functions
	QuadrupedGaitGenerator ()

virtual	~QuadrupedGaitGenerator ()=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	GetStrideBound () const

GaitInfo	GetStrideBoundEnd () const

GaitInfo	GetStrideFlight () const

GaitInfo	GetStrideGallop () const

GaitInfo	GetStrideLimp () const

GaitInfo	GetStridePace () const

GaitInfo	GetStridePaceEnd () const

GaitInfo	GetStridePronk () const

GaitInfo	GetStrideStand () const

GaitInfo	GetStrideTrot () const

GaitInfo	GetStrideTrotFly () const

GaitInfo	GetStrideTrotFlyEnd () const

GaitInfo	GetStrideWalk () const

GaitInfo	GetStrideWalkOverlap () const

void	SetCombo (Combos combo) override
	Sets a specific sequence of gaits. More...

Private Attributes
ContactState	bb_

ContactState	Bb_

ContactState	bB_

ContactState	BB_

ContactState	bI_

ContactState	BI_

ContactState	bP_

ContactState	BP_

ContactState	Ib_

ContactState	IB_

ContactState	II_

ContactState	IP_

ContactState	Pb_

ContactState	PB_

ContactState	PI_

ContactState	PP_

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 four-legged gaits.

See also: GaitGenerator for more documentation

Definition at line 42 of file quadruped_gait_generator.h.

Constructor & Destructor Documentation

◆ QuadrupedGaitGenerator()

towr::QuadrupedGaitGenerator::QuadrupedGaitGenerator ( )

Definition at line 39 of file quadruped_gait_generator.cc.

◆ ~QuadrupedGaitGenerator()

virtual towr::QuadrupedGaitGenerator::~QuadrupedGaitGenerator ( )

virtualdefault

Member Function Documentation

◆ GetGait()

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

overrideprivatevirtual

Implements towr::GaitGenerator.

Definition at line 90 of file quadruped_gait_generator.cc.

◆ GetStrideBound()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideBound ( ) const

private

Definition at line 291 of file quadruped_gait_generator.cc.

◆ GetStrideBoundEnd()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideBoundEnd ( ) const

private

Definition at line 309 of file quadruped_gait_generator.cc.

◆ GetStrideFlight()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideFlight ( ) const

private

Definition at line 129 of file quadruped_gait_generator.cc.

◆ GetStrideGallop()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideGallop ( ) const

private

Definition at line 324 of file quadruped_gait_generator.cc.

◆ GetStrideLimp()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideLimp ( ) const

private

Definition at line 348 of file quadruped_gait_generator.cc.

◆ GetStridePace()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStridePace ( ) const

private

Definition at line 258 of file quadruped_gait_generator.cc.

◆ GetStridePaceEnd()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStridePaceEnd ( ) const

private

Definition at line 276 of file quadruped_gait_generator.cc.

◆ GetStridePronk()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStridePronk ( ) const

private

Definition at line 144 of file quadruped_gait_generator.cc.

◆ GetStrideStand()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideStand ( ) const

private

Definition at line 114 of file quadruped_gait_generator.cc.

◆ GetStrideTrot()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideTrot ( ) const

private

Definition at line 207 of file quadruped_gait_generator.cc.

◆ GetStrideTrotFly()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideTrotFly ( ) const

private

Definition at line 224 of file quadruped_gait_generator.cc.

◆ GetStrideTrotFlyEnd()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideTrotFlyEnd ( ) const

private

Definition at line 243 of file quadruped_gait_generator.cc.

◆ GetStrideWalk()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideWalk ( ) const

private

Definition at line 163 of file quadruped_gait_generator.cc.

◆ GetStrideWalkOverlap()

QuadrupedGaitGenerator::GaitInfo towr::QuadrupedGaitGenerator::GetStrideWalkOverlap ( ) const

private

Definition at line 182 of file quadruped_gait_generator.cc.

◆ SetCombo()

void towr::QuadrupedGaitGenerator::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 77 of file quadruped_gait_generator.cc.

Member Data Documentation

◆ bb_

ContactState towr::QuadrupedGaitGenerator::bb_

private

Definition at line 84 of file quadruped_gait_generator.h.

◆ Bb_

ContactState towr::QuadrupedGaitGenerator::Bb_

private

Definition at line 86 of file quadruped_gait_generator.h.

◆ bB_

ContactState towr::QuadrupedGaitGenerator::bB_

private

Definition at line 88 of file quadruped_gait_generator.h.

◆ BB_

ContactState towr::QuadrupedGaitGenerator::BB_

private

Definition at line 91 of file quadruped_gait_generator.h.

◆ bI_

ContactState towr::QuadrupedGaitGenerator::bI_

private

Definition at line 75 of file quadruped_gait_generator.h.

◆ BI_

ContactState towr::QuadrupedGaitGenerator::BI_

private

Definition at line 81 of file quadruped_gait_generator.h.

◆ bP_

ContactState towr::QuadrupedGaitGenerator::bP_

private

Definition at line 80 of file quadruped_gait_generator.h.

◆ BP_

ContactState towr::QuadrupedGaitGenerator::BP_

private

Definition at line 87 of file quadruped_gait_generator.h.

◆ Ib_

ContactState towr::QuadrupedGaitGenerator::Ib_

private

Definition at line 77 of file quadruped_gait_generator.h.

◆ IB_

ContactState towr::QuadrupedGaitGenerator::IB_

private

Definition at line 82 of file quadruped_gait_generator.h.

◆ II_

ContactState towr::QuadrupedGaitGenerator::II_

private

Definition at line 72 of file quadruped_gait_generator.h.

◆ IP_

ContactState towr::QuadrupedGaitGenerator::IP_

private

Definition at line 76 of file quadruped_gait_generator.h.

◆ Pb_

ContactState towr::QuadrupedGaitGenerator::Pb_

private

Definition at line 79 of file quadruped_gait_generator.h.

◆ PB_

ContactState towr::QuadrupedGaitGenerator::PB_

private

Definition at line 89 of file quadruped_gait_generator.h.

◆ PI_

ContactState towr::QuadrupedGaitGenerator::PI_

private

Definition at line 74 of file quadruped_gait_generator.h.

◆ PP_

ContactState towr::QuadrupedGaitGenerator::PP_

private

Definition at line 83 of file quadruped_gait_generator.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ QuadrupedGaitGenerator()

◆ ~QuadrupedGaitGenerator()

Member Function Documentation

◆ GetGait()

◆ GetStrideBound()

◆ GetStrideBoundEnd()

◆ GetStrideFlight()

◆ GetStrideGallop()

◆ GetStrideLimp()

◆ GetStridePace()

◆ GetStridePaceEnd()

◆ GetStridePronk()

◆ GetStrideStand()

◆ GetStrideTrot()

◆ GetStrideTrotFly()

◆ GetStrideTrotFlyEnd()

◆ GetStrideWalk()

◆ GetStrideWalkOverlap()

◆ SetCombo()

Member Data Documentation

◆ bb_

◆ Bb_

◆ bB_

◆ BB_

◆ bI_

◆ BI_

◆ bP_

◆ BP_

◆ Ib_

◆ IB_

◆ II_

◆ IP_

◆ Pb_

◆ PB_

◆ PI_

◆ PP_