A class representing a footstep (i.e. a translation and rotation of a specific foot with respect to the supporting leg) that can be performed by a humanoid robot. More...

#include <Footstep.h>

Public Member Functions
	Footstep (double x, double y, double theta, double cell_size, int num_angle_bins, int max_hash_size)
	The constructor takes the continuous translation and rotation of the footstep and calculates the respective discretized footstep based on the parameters of the discretization.
PlanningState	performMeOnThisState (const PlanningState &current) const
	Performs this footstep (translation and rotation) on a given planning state.
PlanningState	reverseMeOnThisState (const PlanningState &current) const
	Reverse this footstep on a given planning state.
	~Footstep ()
Private Types
typedef std::pair< int, int >	footstep_xy
	Typedef representing the (discretized) translation of the footstep.
Private Member Functions
int	calculateForwardStep (Leg leg, int global_theta, double x, double y, int footstep_x, int footstep_y) const
	Discretizes the translation of the footstep for a certain (discretized) orientation of a possible state.
void	init (double x, double y)
	Initialization method called within the constructor.
Private Attributes
double	ivCellSize
	The parameter for the discretization of the translation.
std::vector< footstep_xy >	ivDiscPredecessorLeft
	The reversed (discretized) translation(s) for a left supporting foot.
std::vector< footstep_xy >	ivDiscPredecessorRight
	The reversed (discretized) translation(s) for a right supporting foot.
std::vector< footstep_xy >	ivDiscSuccessorLeft
	The (discretized) translation(s) for a left supporting foot.
std::vector< footstep_xy >	ivDiscSuccessorRight
	The (discretized) translation(s) for a right supporting foot.
int	ivMaxHashSize
	The maximal hash size.
int	ivNumAngleBins
	The parameter for the discretization of the rotation.
int	ivTheta
	The (discretized) rotation of the footstep.

Detailed Description

A class representing a footstep (i.e. a translation and rotation of a specific foot with respect to the supporting leg) that can be performed by a humanoid robot.

Since the underlying SBPL is working on discretized states the footsteps are also a discretized translations and rotations.

Definition at line 38 of file Footstep.h.

Member Typedef Documentation

typedef std::pair<int, int> footstep_planner::Footstep::footstep_xy [private]

Typedef representing the (discretized) translation of the footstep.

Definition at line 81 of file Footstep.h.

Constructor & Destructor Documentation

footstep_planner::Footstep::Footstep	(	double	x,
		double	y,
		double	theta,
		double	cell_size,
		int	num_angle_bins,
		int	max_hash_size
	)

The constructor takes the continuous translation and rotation of the footstep and calculates the respective discretized footstep based on the parameters of the discretization.

Parameters:

x	The (continuous) translation in x direction.
y	The (continuous) translation in y direction.
theta	The (continuous) rotation.
cell_size	Parameter to discretize the translation (see PlanningState for further explanation).
num_angle_bins	Parameter to discretize the rotation (see PlanningState for further explanation).
max_hash_size	The maximal hash size.

Definition at line 26 of file Footstep.cpp.

footstep_planner::Footstep::~Footstep ( )

Definition at line 41 of file Footstep.cpp.

Member Function Documentation

int footstep_planner::Footstep::calculateForwardStep	(	Leg	leg,
		int	global_theta,
		double	x,
		double	y,
		int *	footstep_x,
		int *	footstep_y
	)		const `[private]`

Discretizes the translation of the footstep for a certain (discretized) orientation of a possible state.

Parameters:

leg	The supporting leg of the possible state.
global_theta	The (discretized) orientation of the possible state.
x	The (continuous) translation in x direction.
y	The (continuous) translation in y direction.
footstep_x	The resulting (discretized) translation in x direction.
footstep_y	The resulting (discretized) translation in y direction.

Returns:: The (discretized) orientation of the resulting state after performing the footstep. This is used to calculate the (discretized) reversed footstep.

Definition at line 142 of file Footstep.cpp.