Classes
class	Params
Functions
def	clip_data
def	clip_footstep
def	clip_footstep_on_gait_config
def	clip_footstep_to_avoid_collision
def	clip_footstep_tuple
def	clip_footstep_with_ellipse

Function Documentation

def nao_apps.nao_footstep_clipping.clip_data	(	min,
		max,
		value
	)

Clip value between two extremes.

Definition at line 32 of file nao_footstep_clipping.py.

def nao_apps.nao_footstep_clipping.clip_footstep	(	foot,
		is_left_support
	)

Clipping functions to avoid any warnings and undesired effects
    when sending the footsteps to ALMotion.
    foot is an almath.Pose2D (x, y, theta position)
    is_left_support must be set to True if the move is on the right leg
    (the robot is supporting itself on the left leg).

Definition at line 105 of file nao_footstep_clipping.py.

def nao_apps.nao_footstep_clipping.clip_footstep_on_gait_config	(	foot,
		is_left_support
	)

Clip the foot move so that it does not exceed the maximum
    size of steps.
    foot is an almath.Pose2D (x, y, theta position).
    is_left_support must be set to True if the move is on the right leg
    (the robot is supporting itself on the left leg).

Definition at line 44 of file nao_footstep_clipping.py.

def nao_apps.nao_footstep_clipping.clip_footstep_to_avoid_collision	(	foot,
		is_left_support
	)

Clip the foot move to avoid collision with the other foot.
    foot is an almath.Pose2D (x, y, theta position).
    is_left_support must be set to True if the move is on the right leg
    (the robot is supporting itself on the left leg).

Definition at line 94 of file nao_footstep_clipping.py.

def nao_apps.nao_footstep_clipping.clip_footstep_tuple	(	foot,
		is_left_support
	)

Wrapper of clip_footstep to handle 'foot' as geometry_msgs.Pose2D.
'foot' is a tuple (x, y, theta). A tuple (x_clip, y_clip, theta_clip) is
returned.

Definition at line 121 of file nao_footstep_clipping.py.

def nao_apps.nao_footstep_clipping.clip_footstep_with_ellipse ( foot )

Clip the foot move inside an ellipse defined by the foot's dimansions.
    foot is an almath.Pose2D (x, y, theta position).

Definition at line 68 of file nao_footstep_clipping.py.

Classes

Functions

Function Documentation