Classes
class	BinaryReader
struct	BinaryReaderHelper
class	BinaryWriter
struct	BinaryWriterHelper
class	DiscretizedPatternGenerator2d
class	DiscretizedTrajectory
	A trajectory is a function which takes a time as its input and return a value. More...
class	PatternGenerator
	A pattern generator computes walking reference trajectories. More...
struct	PatternGeneratorTraits
struct	PatternGeneratorTraits< DiscretizedPatternGenerator2d >
struct	StampedFootprint
	Footprint with its associated timestamp. More...
struct	StampedPosition
	Position with its associated time duration. More...
class	YamlReader
	Unserialize data from a file into a specific pattern generator. More...
class	YamlWriter
	Write a YAML file to serialize a pattern generator computed trajectories. More...
Typedefs
typedef DiscretizedTrajectory < StampedPosition2d >	DiscretizedTrajectory2d
	DiscretizedTrajectory in .
typedef DiscretizedTrajectory < StampedPosition3d >	DiscretizedTrajectory3d
	DiscretizedTrajectory in .
typedef DiscretizedTrajectory < StampedVectorNd >	DiscretizedTrajectoryNd
	DiscretizedTrajectory in .
typedef DiscretizedTrajectory < StampedVector2d >	DiscretizedTrajectoryV2d
	DiscretizedTrajectory in .
typedef DiscretizedTrajectory < StampedVector3d >	DiscretizedTrajectoryV3d
	DiscretizedTrajectory in .
typedef Eigen::Matrix< double, 3, 1 >	Footprint2d
	2D footprint.
typedef Eigen::Matrix< double, 3, 3 >	HomogeneousMatrix2d
	2D homogeneous matrix.
typedef Eigen::Matrix< double, 4, 4 >	HomogeneousMatrix3d
	3D homogeneous matrix.
typedef Eigen::VectorXd	Posture
	Posture (Eigen vector).
typedef StampedFootprint < Footprint2d >	StampedFootprint2d
	2d stamped footprints.
typedef StampedPosition < HomogeneousMatrix2d >	StampedPosition2d
	2d position with timestamp.
typedef StampedPosition < HomogeneousMatrix3d >	StampedPosition3d
	3d position with timestamp.
typedef StampedPosition < Eigen::Vector2d >	StampedVector2d
	2d vector with timestamp.
typedef StampedPosition < Eigen::Vector3d >	StampedVector3d
	3d vector with timestamp.
typedef StampedPosition < Eigen::VectorXd >	StampedVectorNd
	Nd vector with timestamp.
typedef boost::posix_time::ptime	Time
	Time.
typedef boost::posix_time::time_duration	TimeDuration
	Duration.
typedef Eigen::Vector2d	Vector2d
	2D vector.
typedef Eigen::Vector3d	Vector3d
	3D vector.
Functions
template<typename T >
TimeDuration	computeFootprintSequenceLength (const WALK_INTERFACES_EIGEN_STL_VECTOR(StampedFootprint< T >)&sequence)
	Compute a footprint sequence duration.
template<class T >
void	convertToPosture (Posture &dst, const T &src)
	Convert a structure of any size to a Posture object.
template<class T >
void	convertToTrans3d (HomogeneousMatrix3d &dst, const T &src)
	Convert a row-major homogeneous 3d matrix to a HomogeneousMatrix3d type.
template<class T >
void	convertToVector2d (Vector2d &dst, const T &src)
	Convert a structure of size 2 to a Vector2d object.
template<class T >
void	convertToVector3d (Vector3d &dst, const T &src)
	Convert a structure of size 3 to a Vector3d object.
template<class T >
void	convertVector3dToTrans3d (HomogeneousMatrix3d &dst, const T &src)
	Convert a structure of size 3 to a Homogeneous 3d matrix.
template<typename T >
std::ostream &	operator<< (std::ostream &stream, const StampedFootprint< T > &sf)
	Display a stamped footprint.
template<typename T >
std::ostream &	operator<< (std::ostream &os, const StampedPosition< T > &sp)
	Display a stamped position.
template<typename T >
std::ostream &	operator<< (std::ostream &stream, const DiscretizedTrajectory< T > &trajectory)
	Display a trajectory.
template<typename T >
BinaryWriterHelper &	operator<< (BinaryWriterHelper &helper, const PatternGenerator< T > &pg)
template<typename T >
std::ostream &	operator<< (std::ostream &stream, const PatternGenerator< T > &pg)
	Display a pattern generator.
template<typename T >
void	operator>> (const YAML::Node &node, PatternGenerator< T > &pg)
	Unserialize pattern generator data.
template<typename T >
BinaryReaderHelper &	operator>> (BinaryReaderHelper &helper, BinaryReader< T > &pg)
template<class U , class V >
void	trans2dToTrans3d (U &dst, const V &src)
template<class U >
void	trans2dToTrans3d (U &dst, const double &srcX, const double &srcY, const double &srcTh)
typedef	WALK_INTERFACES_EIGEN_STL_VECTOR (StampedFootprint< Footprint2d >) StampedFootprint2dSequence
	Vector of 2d stamped footprints.
typedef	WALK_INTERFACES_EIGEN_STL_VECTOR (Footprint2d) Footprint2dSequence
	Vector of 2d footprints.

Typedef Documentation

typedef DiscretizedTrajectory<StampedPosition2d> walk::DiscretizedTrajectory2d

DiscretizedTrajectory in $SO(2)$ .

Definition at line 68 of file discretized-trajectory.hh.

typedef DiscretizedTrajectory<StampedPosition3d> walk::DiscretizedTrajectory3d

DiscretizedTrajectory in $SO(3)$ .

Definition at line 66 of file discretized-trajectory.hh.

typedef DiscretizedTrajectory<StampedVectorNd> walk::DiscretizedTrajectoryNd

DiscretizedTrajectory in $R^n$ .

Definition at line 74 of file discretized-trajectory.hh.

typedef DiscretizedTrajectory<StampedVector2d> walk::DiscretizedTrajectoryV2d

DiscretizedTrajectory in $R^2$ .

Definition at line 70 of file discretized-trajectory.hh.

typedef DiscretizedTrajectory<StampedVector3d> walk::DiscretizedTrajectoryV3d

DiscretizedTrajectory in $R^3$ .

Definition at line 72 of file discretized-trajectory.hh.

typedef Eigen::Matrix<double, 3, 1> walk::Footprint2d

2D footprint.

Definition at line 36 of file types.hh.

typedef Eigen::Matrix<double, 3, 3> walk::HomogeneousMatrix2d

2D homogeneous matrix.

3x3 matrix representing an element of $SO(2)$ .

Definition at line 28 of file types.hh.

typedef Eigen::Matrix<double, 4, 4> walk::HomogeneousMatrix3d

3D homogeneous matrix.

4x4 matrix representing an element of $SO(3)$ .

Definition at line 23 of file types.hh.

typedef Eigen::VectorXd walk::Posture

Posture (Eigen vector).

Definition at line 39 of file types.hh.

typedef StampedFootprint<Footprint2d> walk::StampedFootprint2d

2d stamped footprints.

Definition at line 42 of file stamped-footprint.hh.

typedef StampedPosition<HomogeneousMatrix2d> walk::StampedPosition2d

2d position with timestamp.

Definition at line 33 of file stamped-position.hh.

typedef StampedPosition<HomogeneousMatrix3d> walk::StampedPosition3d

3d position with timestamp.

Definition at line 31 of file stamped-position.hh.

typedef StampedPosition<Eigen::Vector2d> walk::StampedVector2d

2d vector with timestamp.

Definition at line 35 of file stamped-position.hh.

typedef StampedPosition<Eigen::Vector3d> walk::StampedVector3d

3d vector with timestamp.

Definition at line 37 of file stamped-position.hh.

typedef StampedPosition<Eigen::VectorXd> walk::StampedVectorNd

Nd vector with timestamp.

Definition at line 39 of file stamped-position.hh.

typedef boost::posix_time::ptime walk::Time

Time.

Definition at line 42 of file types.hh.

typedef boost::posix_time::time_duration walk::TimeDuration

Duration.

Definition at line 44 of file types.hh.

typedef Eigen::Vector2d walk::Vector2d

2D vector.

Definition at line 31 of file types.hh.

typedef Eigen::Vector3d walk::Vector3d

3D vector.

Definition at line 33 of file types.hh.

Function Documentation

template<typename T >

TimeDuration walk::computeFootprintSequenceLength ( const WALK_INTERFACES_EIGEN_STL_VECTOR(StampedFootprint< T >)& sequence )

Compute a footprint sequence duration.

A footprint sequence is defined as a sequence of stamped footprints.

The length (in time) of a footprint sequence is defined by the duration separating the begin time of the first footprint and the end time of the last footprint.

Template Parameters:

T	Tootprint type.

template<class T >

void walk::convertToPosture	(	Posture &	dst,
		const T &	src
	)

Convert a structure of any size to a Posture object.

Parameters:

src	input structure.
dst	output vector of type Posture.

Definition at line 142 of file util.hh.

template<class T >

void walk::convertToTrans3d	(	HomogeneousMatrix3d &	dst,
		const T &	src
	)

Convert a row-major homogeneous 3d matrix to a HomogeneousMatrix3d type.

Parameters:

src	input homogeneous 3d matrix.
dst	output matrix of type Homogeneous3d.

Definition at line 96 of file util.hh.

template<class T >

void walk::convertToVector2d	(	Vector2d &	dst,
		const T &	src
	)

Convert a structure of size 2 to a Vector2d object.

Parameters:

src	input structure.
dst	output vector of type Vector2d.

Definition at line 115 of file util.hh.

template<class T >

void walk::convertToVector3d	(	Vector3d &	dst,
		const T &	src
	)

Convert a structure of size 3 to a Vector3d object.

Parameters:

src	input structure.
dst	output vector of type Vector3d.

Definition at line 128 of file util.hh.

template<class T >

void walk::convertVector3dToTrans3d	(	HomogeneousMatrix3d &	dst,
		const T &	src
	)

Convert a structure of size 3 to a Homogeneous 3d matrix.

Parameters:

src	input structure.
dst	output matrix of type Homogeneous3d.

Definition at line 75 of file util.hh.

template<typename T >

std::ostream& walk::operator<<	(	std::ostream &	stream,
		const StampedFootprint< T > &	sf
	)

Display a stamped footprint.

Parameters:

stream	Output stream.
sf	Stamped footprint.

template<typename T >

std::ostream& walk::operator<<	(	std::ostream &	os,
		const StampedPosition< T > &	sp
	)

Display a stamped position.

Parameters:

os	Output stream.
sp	Stamped position.

Definition at line 47 of file stamped-position.hh.

template<typename T >

std::ostream& walk::operator<<	(	std::ostream &	stream,
		const DiscretizedTrajectory< T > &	trajectory
	)

Display a trajectory.

Parameters:

stream	Output stream
trajectory	Displayed trajectory

template<typename T >

BinaryWriterHelper& walk::operator<<	(	BinaryWriterHelper &	helper,
		const PatternGenerator< T > &	pg
	)

template<typename T >

std::ostream& walk::operator<<	(	std::ostream &	stream,
		const PatternGenerator< T > &	pg
	)

Display a pattern generator.

Parameters:

stream	Output stream.
pg	Pattern generator.

template<typename T >

void walk::operator>>	(	const YAML::Node &	node,
		PatternGenerator< T > &	pg
	)

Unserialize pattern generator data.

template<typename T >

BinaryReaderHelper& walk::operator>>	(	BinaryReaderHelper &	helper,
		BinaryReader< T > &	pg
	)

template<class U , class V >

void walk::trans2dToTrans3d	(	U &	dst,
		const V &	src
	)

Definition at line 16 of file util.hh.

template<class U >

void walk::trans2dToTrans3d	(	U &	dst,
		const double &	srcX,
		const double &	srcY,
		const double &	srcTh
	)

Definition at line 47 of file util.hh.

typedef walk::WALK_INTERFACES_EIGEN_STL_VECTOR ( StampedFootprint< Footprint2d > )

Vector of 2d stamped footprints.

typedef walk::WALK_INTERFACES_EIGEN_STL_VECTOR ( Footprint2d )

Vector of 2d footprints.

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation