Public Member Functions | Private Member Functions | Private Attributes
rats::refzmp_generator Class Reference

#include <GaitGenerator.h>

List of all members.

Public Member Functions

bool get_current_refzmp (hrp::Vector3 &rzmp, std::vector< hrp::Vector3 > &swing_foot_zmp_offsets, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double default_double_support_static_ratio_before, const double default_double_support_static_ratio_after)
const hrp::Vector3get_default_zmp_offset (const leg_type lt) const
double get_heel_zmp_offset_x () const
const hrp::Vector3get_refzmp_cur () const
double get_toe_zmp_offset_x () const
bool get_use_toe_heel_auto_set () const
bool get_use_toe_heel_transition () const
const std::map< leg_type, double > get_zmp_weight_map () const
void proc_zmp_weight_map_interpolation ()
void push_refzmp_from_footstep_nodes_for_dual (const std::vector< step_node > &fns, const std::vector< step_node > &_support_leg_steps, const std::vector< step_node > &_swing_leg_steps)
void push_refzmp_from_footstep_nodes_for_single (const std::vector< step_node > &fns, const std::vector< step_node > &_support_leg_steps, const toe_heel_types &tht)
 refzmp_generator (const double _dt)
void remove_refzmp_cur_list_over_length (const size_t len)
void reset (const size_t _refzmp_count)
void set_default_zmp_offsets (const std::vector< hrp::Vector3 > &tmp)
void set_heel_zmp_offset_x (const double _off)
void set_indices (const size_t idx)
void set_refzmp_count (const size_t _refzmp_count)
bool set_toe_heel_phase_ratio (const std::vector< double > &ratio)
void set_toe_zmp_offset_x (const double _off)
void set_use_toe_heel_auto_set (const bool _u)
void set_use_toe_heel_transition (const bool _u)
void set_zmp_weight_map (const std::map< leg_type, double > _map)
void update_refzmp ()
 ~refzmp_generator ()

Private Member Functions

void calc_current_refzmp (hrp::Vector3 &ret, std::vector< hrp::Vector3 > &swing_foot_zmp_offsets, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double default_double_support_static_ratio_before, const double default_double_support_static_ratio_after)
const bool is_end_double_support_phase () const
const bool is_second_last_phase () const
const bool is_second_phase () const
const bool is_start_double_support_phase () const

Private Attributes

std::vector< hrp::Vector3default_zmp_offsets
double dt
std::vector< std::vector
< hrp::Vector3 > > 
foot_x_axises_list
double heel_zmp_offset_x
size_t one_step_count
size_t refzmp_count
std::vector< hrp::Vector3refzmp_cur_list
size_t refzmp_index
std::vector< size_t > step_count_list
std::vector< std::vector
< leg_type > > 
swing_leg_types_list
toe_heel_phase_counter thp
std::vector< toe_heel_typestoe_heel_types_list
double toe_zmp_offset_x
bool use_toe_heel_auto_set
bool use_toe_heel_transition
boost::shared_ptr< interpolatorzmp_weight_interpolator
std::map< leg_type, double > zmp_weight_map

Detailed Description

Definition at line 282 of file GaitGenerator.h.


Constructor & Destructor Documentation

Definition at line 308 of file GaitGenerator.h.

Definition at line 324 of file GaitGenerator.h.


Member Function Documentation

void rats::refzmp_generator::calc_current_refzmp ( hrp::Vector3 ret,
std::vector< hrp::Vector3 > &  swing_foot_zmp_offsets,
const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after,
const double  default_double_support_static_ratio_before,
const double  default_double_support_static_ratio_after 
) [private]

Definition at line 133 of file GaitGenerator.cpp.

bool rats::refzmp_generator::get_current_refzmp ( hrp::Vector3 rzmp,
std::vector< hrp::Vector3 > &  swing_foot_zmp_offsets,
const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after,
const double  default_double_support_static_ratio_before,
const double  default_double_support_static_ratio_after 
) [inline]

Definition at line 373 of file GaitGenerator.h.

Definition at line 379 of file GaitGenerator.h.

Definition at line 381 of file GaitGenerator.h.

Definition at line 378 of file GaitGenerator.h.

Definition at line 380 of file GaitGenerator.h.

Definition at line 383 of file GaitGenerator.h.

Definition at line 382 of file GaitGenerator.h.

const std::map<leg_type, double> rats::refzmp_generator::get_zmp_weight_map ( ) const [inline]

Definition at line 384 of file GaitGenerator.h.

Definition at line 304 of file GaitGenerator.h.

const bool rats::refzmp_generator::is_second_last_phase ( ) const [inline, private]

Definition at line 303 of file GaitGenerator.h.

const bool rats::refzmp_generator::is_second_phase ( ) const [inline, private]

Definition at line 302 of file GaitGenerator.h.

Definition at line 301 of file GaitGenerator.h.

Definition at line 385 of file GaitGenerator.h.

void rats::refzmp_generator::push_refzmp_from_footstep_nodes_for_dual ( const std::vector< step_node > &  fns,
const std::vector< step_node > &  _support_leg_steps,
const std::vector< step_node > &  _swing_leg_steps 
)

Definition at line 74 of file GaitGenerator.cpp.

void rats::refzmp_generator::push_refzmp_from_footstep_nodes_for_single ( const std::vector< step_node > &  fns,
const std::vector< step_node > &  _support_leg_steps,
const toe_heel_types tht 
)

Definition at line 106 of file GaitGenerator.cpp.

Definition at line 327 of file GaitGenerator.h.

void rats::refzmp_generator::reset ( const size_t  _refzmp_count) [inline]

Definition at line 335 of file GaitGenerator.h.

Definition at line 355 of file GaitGenerator.h.

Definition at line 357 of file GaitGenerator.h.

Definition at line 353 of file GaitGenerator.h.

void rats::refzmp_generator::set_refzmp_count ( const size_t  _refzmp_count) [inline]

Definition at line 354 of file GaitGenerator.h.

bool rats::refzmp_generator::set_toe_heel_phase_ratio ( const std::vector< double > &  ratio) [inline]

Definition at line 371 of file GaitGenerator.h.

Definition at line 356 of file GaitGenerator.h.

Definition at line 359 of file GaitGenerator.h.

Definition at line 358 of file GaitGenerator.h.

void rats::refzmp_generator::set_zmp_weight_map ( const std::map< leg_type, double >  _map) [inline]

Definition at line 360 of file GaitGenerator.h.

Definition at line 207 of file GaitGenerator.cpp.


Member Data Documentation

Definition at line 293 of file GaitGenerator.h.

double rats::refzmp_generator::dt [private]

Definition at line 296 of file GaitGenerator.h.

std::vector< std::vector<hrp::Vector3> > rats::refzmp_generator::foot_x_axises_list [private]

Definition at line 289 of file GaitGenerator.h.

Definition at line 295 of file GaitGenerator.h.

Definition at line 294 of file GaitGenerator.h.

Definition at line 294 of file GaitGenerator.h.

Definition at line 287 of file GaitGenerator.h.

Definition at line 294 of file GaitGenerator.h.

std::vector<size_t> rats::refzmp_generator::step_count_list [private]

Definition at line 291 of file GaitGenerator.h.

std::vector< std::vector<leg_type> > rats::refzmp_generator::swing_leg_types_list [private]

Definition at line 290 of file GaitGenerator.h.

Definition at line 297 of file GaitGenerator.h.

Definition at line 292 of file GaitGenerator.h.

Definition at line 295 of file GaitGenerator.h.

Definition at line 298 of file GaitGenerator.h.

Definition at line 298 of file GaitGenerator.h.

Definition at line 299 of file GaitGenerator.h.

std::map<leg_type, double> rats::refzmp_generator::zmp_weight_map [private]

Definition at line 288 of file GaitGenerator.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:21