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

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

#include <quadruped_gait_generator.h>

Inheritance diagram for towr::QuadrupedGaitGenerator:
Inheritance graph
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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< 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 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:


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