#include <GaitGenerator.h>

Public Member Functions
void	append_finalize_footstep ()
void	append_finalize_footstep (std::vector< std::vector< step_node > > &_footstep_nodes_list) const
void	append_footstep_nodes (const std::vector< std::string > &_legs, const std::vector< coordinates > &_fss)
void	append_footstep_nodes (const std::vector< std::string > &_legs, const std::vector< coordinates > &_fss, const double _step_height, const double _step_time, const double _toe_angle, const double _heel_angle)
const std::vector< leg_type >	calc_counter_leg_types_from_footstep_nodes (const std::vector< step_node > &fns, std::vector< std::string > _all_limbs) const
void	clear_footstep_nodes_list ()
std::vector< std::string >	convert_leg_types_to_names (const std::vector< leg_type > &lts) const
void	emergency_stop ()
void	finalize_velocity_mode ()
	gait_generator (double _dt, const std::vector< hrp::Vector3 > &_leg_pos, std::vector< std::string > _all_limbs, const double _stride_fwd_x, const double _stride_outside_y, const double _stride_outside_theta, const double _stride_bwd_x, const double _stride_inside_y, const double _stride_inside_theta)
hrp::Vector3	get_cart_zmp () const
const hrp::Vector3 &	get_cog () const
hrp::Vector3	get_cog_acc () const
hrp::Vector3	get_cog_vel () const
double	get_cp_check_margin (const size_t idx) const
bool	get_current_support_state_from_ee_name (const std::string &ee_name) const
std::vector< leg_type >	get_current_support_states () const
double	get_current_swing_time (const size_t idx) const
double	get_current_swing_time_from_ee_name (const std::string ee_name) const
double	get_current_toe_heel_ratio () const
bool	get_current_toe_heel_ratio_from_ee_name (double &ret, const std::string &ee_name) const
hrp::Vector3	get_cycloid_delay_kick_point_offset () const
double	get_default_double_support_ratio_after () const
double	get_default_double_support_ratio_before () const
double	get_default_double_support_ratio_swing_after () const
double	get_default_double_support_ratio_swing_before () const
double	get_default_double_support_static_ratio_after () const
double	get_default_double_support_static_ratio_before () const
orbit_type	get_default_orbit_type () const
double	get_default_step_height () const
double	get_default_step_time () const
const coordinates	get_dst_foot_midcoords () const
double	get_foot_dif_rot_angle () const
std::vector< std::string >	get_footstep_back_leg_names () const
std::vector< std::string >	get_footstep_front_leg_names () const
size_t	get_footstep_index () const
double	get_footstep_modification_gain () const
bool	get_footstep_nodes_by_index (std::vector< step_node > &csl, const size_t idx) const
double	get_gravitational_acceleration () const
double	get_heel_angle () const
double	get_heel_check_thre () const
double	get_heel_pos_offset_x () const
double	get_heel_zmp_offset_x () const
size_t	get_lcg_count () const
void	get_leg_default_translate_pos (std::vector< hrp::Vector3 > &off) const
double	get_leg_margin (const size_t idx) const
const std::map< leg_type, std::string >	get_leg_type_map () const
double	get_margin_time_ratio () const
bool	get_modify_footsteps () const
int	get_NUM_TH_PHASES () const
size_t	get_optional_go_pos_finalize_footstep_num () const
size_t	get_overwritable_footstep_index_offset () const
size_t	get_overwritable_index () const
double	get_overwritable_stride_limitation (const size_t idx) const
size_t	get_overwrite_check_timing () const
const hrp::Vector3 &	get_refzmp () const
std::vector< std::vector < step_node > >	get_remaining_footstep_nodes_list () const
hrp::Vector3	get_stair_trajectory_way_point_offset () const
double	get_stride_limitation_for_circle_type (const size_t idx) const
stride_limitation_type	get_stride_limitation_type () const
void	get_stride_parameters (double &_stride_fwd_x, double &_stride_outside_y, double &_stride_outside_theta, double &_stride_bwd_x, double &_stride_inside_y, double &_stride_inside_theta) const
std::vector< hrp::Vector3 >	get_support_foot_zmp_offsets () const
const std::vector< std::string >	get_support_leg_names () const
const std::vector< step_node > &	get_support_leg_steps () const
const std::vector< hrp::Vector3 > &	get_swing_foot_zmp_offsets () const
const std::vector< step_node > &	get_swing_leg_dst_steps () const
const std::vector< std::string >	get_swing_leg_names () const
const std::vector< step_node > &	get_swing_leg_src_steps () const
const std::vector< step_node > &	get_swing_leg_steps () const
bool	get_swing_support_ee_coords_from_ee_name (hrp::Vector3 &cpos, hrp::Matrix33 &crot, const std::string &ee_name) const
bool	get_swing_support_foot_zmp_offsets_from_ee_name (hrp::Vector3 &ret, const std::string &ee_name) const
void	get_swing_support_mid_coords (coordinates &ret) const
double	get_swing_trajectory_delay_time_offset () const
double	get_swing_trajectory_final_distance_weight () const
double	get_swing_trajectory_time_offset_xy2z () const
double	get_toe_angle () const
double	get_toe_check_thre () const
void	get_toe_heel_phase_ratio (std::vector< double > &ratio) const
double	get_toe_pos_offset_x () const
double	get_toe_zmp_offset_x () const
bool	get_use_stride_limitation () const
bool	get_use_toe_heel_auto_set () const
bool	get_use_toe_heel_transition () const
bool	get_use_toe_joint () const
const std::map< leg_type, double >	get_zmp_weight_map () const
bool	go_pos_param_2_footstep_nodes_list (const double goal_x, const double goal_y, const double goal_theta, const std::vector< coordinates > &initial_support_legs_coords, coordinates start_ref_coords, const std::vector< leg_type > &initial_support_legs, const bool is_initialize=true)
bool	go_pos_param_2_footstep_nodes_list (const double goal_x, const double goal_y, const double goal_theta, const std::vector< coordinates > &initial_support_legs_coords, coordinates start_ref_coords, const std::vector< leg_type > &initial_support_legs, std::vector< std::vector< step_node > > &new_footstep_nodes_list, const bool is_initialize=true)
void	go_pos_param_2_footstep_nodes_list_core (const double goal_x, const double goal_y, const double goal_theta, const std::vector< coordinates > &initial_support_legs_coords, coordinates start_ref_coords, const std::vector< leg_type > &initial_support_legs, std::vector< std::vector< step_node > > &new_footstep_nodes_list, const bool is_initialize, const size_t overwritable_fs_index) const
void	go_single_step_param_2_footstep_nodes_list (const double goal_x, const double goal_y, const double goal_z, const double goal_theta, const std::string &tmp_swing_leg, const coordinates &_support_leg_coords)
void	initialize_gait_parameter (const hrp::Vector3 &cog, const std::vector< step_node > &initial_support_leg_steps, const std::vector< step_node > &initial_swing_leg_dst_steps, const double delay=1.6)
void	initialize_velocity_mode (const coordinates &_ref_coords, const double vel_x, const double vel_y, const double vel_theta, const std::vector< leg_type > &current_legs)
bool	is_finalizing (const double tm) const
void	limit_stride (step_node &cur_fs, const step_node &prev_fs, const double(&limit)[5]) const
void	modify_footsteps_for_recovery ()
void	print_footstep_nodes_list (const std::vector< std::vector< step_node > > _footstep_nodes_list) const
void	print_footstep_nodes_list () const
void	print_param (const std::string &print_str="") const
bool	proc_one_tick ()
void	proc_zmp_weight_map_interpolation ()
void	set_act_contact_states (const std::vector< bool > &_act_contact_states)
void	set_all_limbs (const std::vector< std::string > &_all_limbs)
void	set_cp_check_margin (const double(&_cp_check_margin)[2])
void	set_cycloid_delay_kick_point_offset (const hrp::Vector3 _offset)
void	set_default_double_support_ratio_after (const double _default_double_support_ratio_after)
void	set_default_double_support_ratio_before (const double _default_double_support_ratio_before)
void	set_default_double_support_ratio_swing_after (const double _default_double_support_ratio_swing_after)
void	set_default_double_support_ratio_swing_before (const double _default_double_support_ratio_swing_before)
void	set_default_double_support_static_ratio_after (const double _default_double_support_static_ratio_after)
void	set_default_double_support_static_ratio_before (const double _default_double_support_static_ratio_before)
void	set_default_orbit_type (const orbit_type type)
void	set_default_step_height (const double _tmp)
void	set_default_step_time (const double _default_step_time)
void	set_default_top_ratio (const double _tmp)
void	set_default_zmp_offsets (const std::vector< hrp::Vector3 > &tmp)
void	set_diff_cp (const hrp::Vector3 _cp)
void	set_foot_steps_list (const std::vector< std::vector< step_node > > &fnsl)
void	set_footstep_modification_gain (const double _footstep_modification_gain)
void	set_gravitational_acceleration (const double ga)
void	set_heel_angle (const double _angle)
void	set_heel_check_thre (const double _a)
void	set_heel_pos_offset_x (const double _offx)
void	set_heel_zmp_offset_x (const double _off)
void	set_leg_default_translate_pos (const std::vector< hrp::Vector3 > &off)
void	set_leg_margin (const double _leg_margin[4])
void	set_margin_time_ratio (const double _margin_time_ratio)
void	set_modify_footsteps (const bool _modify_footsteps)
void	set_offset_velocity_param (const double vel_x, const double vel_y, const double vel_theta)
void	set_optional_go_pos_finalize_footstep_num (const size_t num)
void	set_overwritable_footstep_index_offset (const size_t _of)
void	set_overwritable_stride_limitation (const double(&_overwritable_stride_limitation)[5])
bool	set_overwrite_foot_step_index (const size_t idx)
void	set_overwrite_foot_steps_list (const std::vector< std::vector< step_node > > &fnsl)
void	set_stair_trajectory_way_point_offset (const hrp::Vector3 _offset)
void	set_stride_limitation_for_circle_type (const double(&_stride_limitation_for_circle_type)[5])
void	set_stride_limitation_type (const stride_limitation_type _tmp)
void	set_stride_parameters (const double _stride_fwd_x, const double _stride_outside_y, const double _stride_outside_theta, const double _stride_bwd_x, const double _stride_inside_y, const double _stride_inside_theta)
void	set_swing_trajectory_delay_time_offset (const double _time_offset)
void	set_swing_trajectory_final_distance_weight (const double _final_distance_weight)
void	set_swing_trajectory_time_offset_xy2z (const double _tmp)
void	set_toe_angle (const double _angle)
void	set_toe_check_thre (const double _a)
bool	set_toe_heel_phase_ratio (const std::vector< double > &ratio)
void	set_toe_pos_offset_x (const double _offx)
void	set_toe_zmp_offset_x (const double _off)
void	set_use_inside_step_limitation (const bool uu)
void	set_use_stride_limitation (const bool _use_stride_limitation)
void	set_use_toe_heel_auto_set (const bool _u)
void	set_use_toe_heel_transition (const bool _u)
void	set_use_toe_joint (const bool ut)
void	set_velocity_param (const double vel_x, const double vel_y, const double vel_theta)
void	set_zmp_weight_map (const std::map< leg_type, double > _map)
	~gait_generator ()
Private Types
enum	emergency_flag { IDLING, EMERGENCY_STOP, STOPPING }
enum	velocity_mode_flag { VEL_IDLING, VEL_DOING, VEL_ENDING }
Private Member Functions
void	append_footstep_list_velocity_mode ()
void	append_footstep_list_velocity_mode (std::vector< std::vector< step_node > > &_footstep_nodes_list, const velocity_mode_parameter &cur_vel_param) const
void	append_go_pos_step_nodes (const coordinates &_ref_coords, const std::vector< leg_type > &lts)
void	append_go_pos_step_nodes (const coordinates &_ref_coords, const std::vector< leg_type > &lts, std::vector< std::vector< step_node > > &_footstep_nodes_list) const
void	calc_next_coords_velocity_mode (std::vector< std::vector< step_node > > &ret_list, const size_t idx, const size_t future_step_num=3)
void	calc_ref_coords_trans_vector_velocity_mode (coordinates &ref_coords, hrp::Vector3 &trans, double &dth, const std::vector< step_node > &sup_fns, const velocity_mode_parameter &cur_vel_param) const
	gait_generator (const gait_generator &_p)
leg_type	get_leg_type_from_ee_name (const std::string &ee_name) const
gait_generator &	operator= (const gait_generator &_p)
void	overwrite_refzmp_queue (const std::vector< std::vector< step_node > > &fnsl)
Private Attributes
std::vector< bool >	act_contact_states
std::vector< std::string >	all_limbs
hrp::Vector3	cog
double	cp_check_margin [2]
double	default_double_support_ratio_after
double	default_double_support_ratio_before
double	default_double_support_ratio_swing_after
double	default_double_support_ratio_swing_before
double	default_double_support_static_ratio_after
double	default_double_support_static_ratio_before
double	default_step_time
stride_limitation_type	default_stride_limitation_type
hrp::Vector3	diff_cp
double	dt
emergency_flag	emergency_flg
size_t	finalize_count
double	footstep_modification_gain
std::vector< std::vector < step_node > >	footstep_nodes_list
footstep_parameter	footstep_param
double	gravitational_acceleration
coordinates	initial_foot_mid_coords
bool	is_emergency_walking [2]
leg_coords_generator	lcg
double	leg_margin [4]
std::map< leg_type, std::string >	leg_type_map
double	margin_time_ratio
hrp::Vector3	modified_d_footstep
bool	modify_footsteps
velocity_mode_parameter	offset_vel_param
size_t	optional_go_pos_finalize_footstep_num
size_t	overwritable_footstep_index_offset
double	overwritable_stride_limitation [5]
size_t	overwrite_footstep_index
std::vector< std::vector < step_node > >	overwrite_footstep_nodes_list
hrp::Vector3	prev_que_rzmp
std::vector< hrp::Vector3 >	prev_que_sfzos
preview_dynamics_filter < extended_preview_control > *	preview_controller_ptr
hrp::Vector3	refzmp
refzmp_generator	rg
bool	solved
double	stride_limitation_for_circle_type [5]
std::vector< hrp::Vector3 >	swing_foot_zmp_offsets
toe_heel_type_checker	thtc
bool	use_inside_step_limitation
bool	use_stride_limitation
velocity_mode_parameter	vel_param
velocity_mode_flag	velocity_mode_flg

Detailed Description

Definition at line 1014 of file GaitGenerator.h.

Member Enumeration Documentation

enum rats::gait_generator::emergency_flag [private]

Enumerator:

IDLING
EMERGENCY_STOP
STOPPING

Definition at line 1023 of file GaitGenerator.h.

enum rats::gait_generator::velocity_mode_flag [private]

Enumerator:

VEL_IDLING
VEL_DOING
VEL_ENDING

Definition at line 1022 of file GaitGenerator.h.

Constructor & Destructor Documentation

rats::gait_generator::gait_generator ( const gait_generator & _p ) [private]

rats::gait_generator::gait_generator	(	double	_dt,
		const std::vector< hrp::Vector3 > &	_leg_pos,
		std::vector< std::string >	_all_limbs,
		const double	_stride_fwd_x,
		const double	_stride_outside_y,
		const double	_stride_outside_theta,
		const double	_stride_bwd_x,
		const double	_stride_inside_y,
		const double	_stride_inside_theta
	)		`[inline]`

Definition at line 1103 of file GaitGenerator.h.

rats::gait_generator::~gait_generator ( ) [inline]

Definition at line 1125 of file GaitGenerator.h.

Member Function Documentation

void rats::gait_generator::append_finalize_footstep ( ) [inline]

Definition at line 1187 of file GaitGenerator.h.

void rats::gait_generator::append_finalize_footstep ( std::vector< std::vector< step_node > > & _footstep_nodes_list ) const [inline]

Definition at line 1191 of file GaitGenerator.h.

void rats::gait_generator::append_footstep_list_velocity_mode ( ) [private]

Definition at line 1035 of file GaitGenerator.cpp.

void rats::gait_generator::append_footstep_list_velocity_mode	(	std::vector< std::vector< step_node > > &	_footstep_nodes_list,
		const velocity_mode_parameter &	cur_vel_param
	)		const `[private]`

Definition at line 1040 of file GaitGenerator.cpp.

void rats::gait_generator::append_footstep_nodes	(	const std::vector< std::string > &	_legs,
		const std::vector< coordinates > &	_fss
	)		`[inline]`

Definition at line 1138 of file GaitGenerator.h.

void rats::gait_generator::append_footstep_nodes	(	const std::vector< std::string > &	_legs,
		const std::vector< coordinates > &	_fss,
		const double	_step_height,
		const double	_step_time,
		const double	_toe_angle,
		const double	_heel_angle
	)		`[inline]`

Definition at line 1146 of file GaitGenerator.h.

void rats::gait_generator::append_go_pos_step_nodes	(	const coordinates &	_ref_coords,
		const std::vector< leg_type > &	lts
	)		`[inline, private]`

Definition at line 1068 of file GaitGenerator.h.

void rats::gait_generator::append_go_pos_step_nodes	(	const coordinates &	_ref_coords,
		const std::vector< leg_type > &	lts,
		std::vector< std::vector< step_node > > &	_footstep_nodes_list
	)		const `[inline, private]`

Definition at line 1074 of file GaitGenerator.h.

const std::vector< leg_type > rats::gait_generator::calc_counter_leg_types_from_footstep_nodes	(	const std::vector< step_node > &	fns,
		std::vector< std::string >	_all_limbs
	)		const

Definition at line 1148 of file GaitGenerator.cpp.

void rats::gait_generator::calc_next_coords_velocity_mode	(	std::vector< std::vector< step_node > > &	ret_list,
		const size_t	idx,
		const size_t	future_step_num = `3`
	)		`[private]`

Definition at line 1053 of file GaitGenerator.cpp.

void rats::gait_generator::calc_ref_coords_trans_vector_velocity_mode	(	coordinates &	ref_coords,
		hrp::Vector3 &	trans,
		double &	dth,
		const std::vector< step_node > &	sup_fns,
		const velocity_mode_parameter &	cur_vel_param
	)		const `[private]`

Definition at line 987 of file GaitGenerator.cpp.

void rats::gait_generator::clear_footstep_nodes_list ( ) [inline]

Definition at line 1154 of file GaitGenerator.h.

std::vector<std::string> rats::gait_generator::convert_leg_types_to_names ( const std::vector< leg_type > & lts ) const [inline]

Definition at line 1365 of file GaitGenerator.h.

void rats::gait_generator::emergency_stop ( ) [inline]

Definition at line 1199 of file GaitGenerator.h.

void rats::gait_generator::finalize_velocity_mode ( )

Definition at line 982 of file GaitGenerator.cpp.

hrp::Vector3 rats::gait_generator::get_cart_zmp ( ) const [inline]

Definition at line 1359 of file GaitGenerator.h.

const hrp::Vector3& rats::gait_generator::get_cog ( ) const [inline]

Definition at line 1347 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::get_cog_acc ( ) const [inline]

Definition at line 1353 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::get_cog_vel ( ) const [inline]

Definition at line 1348 of file GaitGenerator.h.

double rats::gait_generator::get_cp_check_margin ( const size_t idx ) const [inline]

Definition at line 1507 of file GaitGenerator.h.

bool rats::gait_generator::get_current_support_state_from_ee_name ( const std::string & ee_name ) const [inline]

Definition at line 1532 of file GaitGenerator.h.

std::vector<leg_type> rats::gait_generator::get_current_support_states ( ) const [inline]

Definition at line 1448 of file GaitGenerator.h.

double rats::gait_generator::get_current_swing_time ( const size_t idx ) const [inline]

Definition at line 1442 of file GaitGenerator.h.

double rats::gait_generator::get_current_swing_time_from_ee_name ( const std::string ee_name ) const [inline]

Definition at line 1444 of file GaitGenerator.h.

double rats::gait_generator::get_current_toe_heel_ratio ( ) const [inline]

Definition at line 1482 of file GaitGenerator.h.

bool rats::gait_generator::get_current_toe_heel_ratio_from_ee_name	(	double &	ret,
		const std::string &	ee_name
	)		const `[inline]`

Definition at line 1484 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::get_cycloid_delay_kick_point_offset ( ) const [inline]

Definition at line 1472 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_ratio_after ( ) const [inline]

Definition at line 1452 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_ratio_before ( ) const [inline]

Definition at line 1451 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_ratio_swing_after ( ) const [inline]

Definition at line 1456 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_ratio_swing_before ( ) const [inline]

Definition at line 1455 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_static_ratio_after ( ) const [inline]

Definition at line 1454 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_static_ratio_before ( ) const [inline]

Definition at line 1453 of file GaitGenerator.h.

orbit_type rats::gait_generator::get_default_orbit_type ( ) const [inline]

Definition at line 1467 of file GaitGenerator.h.

double rats::gait_generator::get_default_step_height ( ) const [inline]

Definition at line 1450 of file GaitGenerator.h.

double rats::gait_generator::get_default_step_time ( ) const [inline]

Definition at line 1449 of file GaitGenerator.h.

const coordinates rats::gait_generator::get_dst_foot_midcoords ( ) const [inline]

Definition at line 1423 of file GaitGenerator.h.

double rats::gait_generator::get_foot_dif_rot_angle ( ) const [inline]

Definition at line 1478 of file GaitGenerator.h.

std::vector<std::string> rats::gait_generator::get_footstep_back_leg_names ( ) const [inline]

Definition at line 1410 of file GaitGenerator.h.

std::vector<std::string> rats::gait_generator::get_footstep_front_leg_names ( ) const [inline]

Definition at line 1403 of file GaitGenerator.h.

size_t rats::gait_generator::get_footstep_index ( ) const [inline]

Definition at line 1440 of file GaitGenerator.h.

double rats::gait_generator::get_footstep_modification_gain ( ) const [inline]

Definition at line 1506 of file GaitGenerator.h.

bool rats::gait_generator::get_footstep_nodes_by_index	(	std::vector< step_node > &	csl,
		const size_t	idx
	)		const `[inline]`

Definition at line 1325 of file GaitGenerator.h.

double rats::gait_generator::get_gravitational_acceleration ( ) const [inline]

Definition at line 1473 of file GaitGenerator.h.

double rats::gait_generator::get_heel_angle ( ) const [inline]

Definition at line 1477 of file GaitGenerator.h.

double rats::gait_generator::get_heel_check_thre ( ) const [inline]

Definition at line 1513 of file GaitGenerator.h.

double rats::gait_generator::get_heel_pos_offset_x ( ) const [inline]

Definition at line 1475 of file GaitGenerator.h.

double rats::gait_generator::get_heel_zmp_offset_x ( ) const [inline]

Definition at line 1398 of file GaitGenerator.h.

size_t rats::gait_generator::get_lcg_count ( ) const [inline]

Definition at line 1441 of file GaitGenerator.h.

void rats::gait_generator::get_leg_default_translate_pos ( std::vector< hrp::Vector3 > & off ) const [inline]

Definition at line 1496 of file GaitGenerator.h.

double rats::gait_generator::get_leg_margin ( const size_t idx ) const [inline]

Definition at line 1503 of file GaitGenerator.h.

leg_type rats::gait_generator::get_leg_type_from_ee_name ( const std::string & ee_name ) const [inline, private]

Definition at line 1092 of file GaitGenerator.h.

const std::map<leg_type, std::string> rats::gait_generator::get_leg_type_map ( ) const [inline]

Definition at line 1499 of file GaitGenerator.h.

double rats::gait_generator::get_margin_time_ratio ( ) const [inline]

Definition at line 1509 of file GaitGenerator.h.

bool rats::gait_generator::get_modify_footsteps ( ) const [inline]

Definition at line 1508 of file GaitGenerator.h.

int rats::gait_generator::get_NUM_TH_PHASES ( ) const [inline]

Definition at line 1480 of file GaitGenerator.h.

size_t rats::gait_generator::get_optional_go_pos_finalize_footstep_num ( ) const [inline]

Definition at line 1500 of file GaitGenerator.h.

size_t rats::gait_generator::get_overwritable_footstep_index_offset ( ) const [inline]

Definition at line 1497 of file GaitGenerator.h.

size_t rats::gait_generator::get_overwritable_index ( ) const [inline]

Definition at line 1312 of file GaitGenerator.h.

double rats::gait_generator::get_overwritable_stride_limitation ( const size_t idx ) const [inline]

Definition at line 1505 of file GaitGenerator.h.

size_t rats::gait_generator::get_overwrite_check_timing ( ) const [inline]

Definition at line 1502 of file GaitGenerator.h.

const hrp::Vector3& rats::gait_generator::get_refzmp ( ) const [inline]

Definition at line 1358 of file GaitGenerator.h.

std::vector< std::vector<step_node> > rats::gait_generator::get_remaining_footstep_nodes_list ( ) const [inline]

Definition at line 1457 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::get_stair_trajectory_way_point_offset ( ) const [inline]

Definition at line 1471 of file GaitGenerator.h.

double rats::gait_generator::get_stride_limitation_for_circle_type ( const size_t idx ) const [inline]

Definition at line 1504 of file GaitGenerator.h.

stride_limitation_type rats::gait_generator::get_stride_limitation_type ( ) const [inline]

Definition at line 1511 of file GaitGenerator.h.

void rats::gait_generator::get_stride_parameters	(	double &	_stride_fwd_x,
		double &	_stride_outside_y,
		double &	_stride_outside_theta,
		double &	_stride_bwd_x,
		double &	_stride_inside_y,
		double &	_stride_inside_theta
	)		const `[inline]`

Definition at line 1430 of file GaitGenerator.h.

std::vector<hrp::Vector3> rats::gait_generator::get_support_foot_zmp_offsets ( ) const [inline]

Definition at line 1373 of file GaitGenerator.h.

const std::vector<std::string> rats::gait_generator::get_support_leg_names ( ) const [inline]

Definition at line 1417 of file GaitGenerator.h.

const std::vector<step_node>& rats::gait_generator::get_support_leg_steps ( ) const [inline]

Definition at line 1420 of file GaitGenerator.h.

const std::vector<hrp::Vector3>& rats::gait_generator::get_swing_foot_zmp_offsets ( ) const [inline]

Definition at line 1372 of file GaitGenerator.h.

const std::vector<step_node>& rats::gait_generator::get_swing_leg_dst_steps ( ) const [inline]

Definition at line 1422 of file GaitGenerator.h.

const std::vector<std::string> rats::gait_generator::get_swing_leg_names ( ) const [inline]

Definition at line 1418 of file GaitGenerator.h.

const std::vector<step_node>& rats::gait_generator::get_swing_leg_src_steps ( ) const [inline]

Definition at line 1421 of file GaitGenerator.h.

const std::vector<step_node>& rats::gait_generator::get_swing_leg_steps ( ) const [inline]

Definition at line 1419 of file GaitGenerator.h.

bool rats::gait_generator::get_swing_support_ee_coords_from_ee_name	(	hrp::Vector3 &	cpos,
		hrp::Matrix33 &	crot,
		const std::string &	ee_name
	)		const `[inline]`

Definition at line 1515 of file GaitGenerator.h.

bool rats::gait_generator::get_swing_support_foot_zmp_offsets_from_ee_name	(	hrp::Vector3 &	ret,
		const std::string &	ee_name
	)		const `[inline]`

Definition at line 1381 of file GaitGenerator.h.

void rats::gait_generator::get_swing_support_mid_coords ( coordinates & ret ) const [inline]

Definition at line 1429 of file GaitGenerator.h.

double rats::gait_generator::get_swing_trajectory_delay_time_offset ( ) const [inline]

Definition at line 1468 of file GaitGenerator.h.

double rats::gait_generator::get_swing_trajectory_final_distance_weight ( ) const [inline]

Definition at line 1469 of file GaitGenerator.h.

double rats::gait_generator::get_swing_trajectory_time_offset_xy2z ( ) const [inline]

Definition at line 1470 of file GaitGenerator.h.

double rats::gait_generator::get_toe_angle ( ) const [inline]

Definition at line 1476 of file GaitGenerator.h.

double rats::gait_generator::get_toe_check_thre ( ) const [inline]

Definition at line 1512 of file GaitGenerator.h.

void rats::gait_generator::get_toe_heel_phase_ratio ( std::vector< double > & ratio ) const [inline]

Definition at line 1479 of file GaitGenerator.h.

double rats::gait_generator::get_toe_pos_offset_x ( ) const [inline]

Definition at line 1474 of file GaitGenerator.h.

double rats::gait_generator::get_toe_zmp_offset_x ( ) const [inline]

Definition at line 1397 of file GaitGenerator.h.

bool rats::gait_generator::get_use_stride_limitation ( ) const [inline]

Definition at line 1510 of file GaitGenerator.h.

bool rats::gait_generator::get_use_toe_heel_auto_set ( ) const [inline]

Definition at line 1400 of file GaitGenerator.h.

bool rats::gait_generator::get_use_toe_heel_transition ( ) const [inline]

Definition at line 1399 of file GaitGenerator.h.

bool rats::gait_generator::get_use_toe_joint ( ) const [inline]

Definition at line 1481 of file GaitGenerator.h.

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

Definition at line 1401 of file GaitGenerator.h.

bool rats::gait_generator::go_pos_param_2_footstep_nodes_list	(	const double	goal_x,
		const double	goal_y,
		const double	goal_theta,
		const std::vector< coordinates > &	initial_support_legs_coords,
		coordinates	start_ref_coords,
		const std::vector< leg_type > &	initial_support_legs,
		const bool	is_initialize = `true`
	)		`[inline]`

Definition at line 1159 of file GaitGenerator.h.

bool rats::gait_generator::go_pos_param_2_footstep_nodes_list	(	const double	goal_x,
		const double	goal_y,
		const double	goal_theta,
		const std::vector< coordinates > &	initial_support_legs_coords,
		coordinates	start_ref_coords,
		const std::vector< leg_type > &	initial_support_legs,
		std::vector< std::vector< step_node > > &	new_footstep_nodes_list,
		const bool	is_initialize = `true`
	)

Definition at line 843 of file GaitGenerator.cpp.

void rats::gait_generator::go_pos_param_2_footstep_nodes_list_core	(	const double	goal_x,
		const double	goal_y,
		const double	goal_theta,
		const std::vector< coordinates > &	initial_support_legs_coords,
		coordinates	start_ref_coords,
		const std::vector< leg_type > &	initial_support_legs,
		std::vector< std::vector< step_node > > &	new_footstep_nodes_list,
		const bool	is_initialize,
		const size_t	overwritable_fs_index
	)		const

Definition at line 875 of file GaitGenerator.cpp.

void rats::gait_generator::go_single_step_param_2_footstep_nodes_list	(	const double	goal_x,
		const double	goal_y,
		const double	goal_z,
		const double	goal_theta,
		const std::string &	tmp_swing_leg,
		const coordinates &	_support_leg_coords
	)

Definition at line 953 of file GaitGenerator.cpp.

void rats::gait_generator::initialize_gait_parameter	(	const hrp::Vector3 &	cog,
		const std::vector< step_node > &	initial_support_leg_steps,
		const std::vector< step_node > &	initial_swing_leg_dst_steps,
		const double	delay = `1.6`
	)

Definition at line 599 of file GaitGenerator.cpp.

void rats::gait_generator::initialize_velocity_mode	(	const coordinates &	_ref_coords,
		const double	vel_x,
		const double	vel_y,
		const double	vel_theta,
		const std::vector< leg_type > &	current_legs
	)

Definition at line 968 of file GaitGenerator.cpp.

bool rats::gait_generator::is_finalizing ( const double tm ) const [inline]

Definition at line 1501 of file GaitGenerator.h.

void rats::gait_generator::limit_stride	(	step_node &	cur_fs,
		const step_node &	prev_fs,
		const double(&)	limit[5]
	)		const

Definition at line 748 of file GaitGenerator.cpp.

void rats::gait_generator::modify_footsteps_for_recovery ( )

Definition at line 781 of file GaitGenerator.cpp.

gait_generator& rats::gait_generator::operator= ( const gait_generator & _p ) [private]

void rats::gait_generator::overwrite_refzmp_queue ( const std::vector< std::vector< step_node > > & fnsl ) [private]

Definition at line 1084 of file GaitGenerator.cpp.

void rats::gait_generator::print_footstep_nodes_list ( const std::vector< std::vector< step_node > > _footstep_nodes_list ) const [inline]

Definition at line 1334 of file GaitGenerator.h.

void rats::gait_generator::print_footstep_nodes_list ( ) const [inline]

Definition at line 1342 of file GaitGenerator.h.

void rats::gait_generator::print_param ( const std::string & print_str = "" ) const [inline]

Definition at line 1547 of file GaitGenerator.h.

bool rats::gait_generator::proc_one_tick ( )

Definition at line 650 of file GaitGenerator.cpp.

void rats::gait_generator::proc_zmp_weight_map_interpolation ( ) [inline]

Definition at line 1402 of file GaitGenerator.h.

void rats::gait_generator::set_act_contact_states ( const std::vector< bool > & _act_contact_states ) [inline]

Definition at line 1298 of file GaitGenerator.h.

void rats::gait_generator::set_all_limbs ( const std::vector< std::string > & _all_limbs ) [inline]

Definition at line 1261 of file GaitGenerator.h.

void rats::gait_generator::set_cp_check_margin ( const double(&) _cp_check_margin[2] ) [inline]

Definition at line 1293 of file GaitGenerator.h.

void rats::gait_generator::set_cycloid_delay_kick_point_offset ( const hrp::Vector3 _offset ) [inline]

Definition at line 1246 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_ratio_after ( const double _default_double_support_ratio_after ) [inline]

Definition at line 1209 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_ratio_before ( const double _default_double_support_ratio_before ) [inline]

Definition at line 1208 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_ratio_swing_after ( const double _default_double_support_ratio_swing_after ) [inline]

Definition at line 1213 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_ratio_swing_before ( const double _default_double_support_ratio_swing_before ) [inline]

Definition at line 1212 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_static_ratio_after ( const double _default_double_support_static_ratio_after ) [inline]

Definition at line 1211 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_static_ratio_before ( const double _default_double_support_static_ratio_before ) [inline]

Definition at line 1210 of file GaitGenerator.h.

void rats::gait_generator::set_default_orbit_type ( const orbit_type type ) [inline]

Definition at line 1241 of file GaitGenerator.h.

void rats::gait_generator::set_default_step_height ( const double _tmp ) [inline]

Definition at line 1220 of file GaitGenerator.h.

void rats::gait_generator::set_default_step_time ( const double _default_step_time ) [inline]

Definition at line 1207 of file GaitGenerator.h.

void rats::gait_generator::set_default_top_ratio ( const double _tmp ) [inline]

Definition at line 1221 of file GaitGenerator.h.

void rats::gait_generator::set_default_zmp_offsets ( const std::vector< hrp::Vector3 > & tmp ) [inline]

Definition at line 1214 of file GaitGenerator.h.

void rats::gait_generator::set_diff_cp ( const hrp::Vector3 _cp ) [inline]

Definition at line 1307 of file GaitGenerator.h.

void rats::gait_generator::set_foot_steps_list ( const std::vector< std::vector< step_node > > & fnsl ) [inline]

Definition at line 1263 of file GaitGenerator.h.

void rats::gait_generator::set_footstep_modification_gain ( const double _footstep_modification_gain ) [inline]

Definition at line 1292 of file GaitGenerator.h.

void rats::gait_generator::set_gravitational_acceleration ( const double ga ) [inline]

Definition at line 1247 of file GaitGenerator.h.

void rats::gait_generator::set_heel_angle ( const double _angle ) [inline]

Definition at line 1251 of file GaitGenerator.h.

void rats::gait_generator::set_heel_check_thre ( const double _a ) [inline]

Definition at line 1310 of file GaitGenerator.h.

void rats::gait_generator::set_heel_pos_offset_x ( const double _offx ) [inline]

Definition at line 1249 of file GaitGenerator.h.

void rats::gait_generator::set_heel_zmp_offset_x ( const double _off ) [inline]

Definition at line 1216 of file GaitGenerator.h.

void rats::gait_generator::set_leg_default_translate_pos ( const std::vector< hrp::Vector3 > & off ) [inline]

Definition at line 1259 of file GaitGenerator.h.

void rats::gait_generator::set_leg_margin ( const double _leg_margin[4] ) [inline]

Definition at line 1277 of file GaitGenerator.h.

void rats::gait_generator::set_margin_time_ratio ( const double _margin_time_ratio ) [inline]

Definition at line 1306 of file GaitGenerator.h.

void rats::gait_generator::set_modify_footsteps ( const bool _modify_footsteps ) [inline]

Definition at line 1305 of file GaitGenerator.h.

void rats::gait_generator::set_offset_velocity_param	(	const double	vel_x,
		const double	vel_y,
		const double	vel_theta
	)		`[inline]`

Definition at line 1226 of file GaitGenerator.h.

void rats::gait_generator::set_optional_go_pos_finalize_footstep_num ( const size_t num ) [inline]

Definition at line 1260 of file GaitGenerator.h.

void rats::gait_generator::set_overwritable_footstep_index_offset ( const size_t _of ) [inline]

Definition at line 1262 of file GaitGenerator.h.

void rats::gait_generator::set_overwritable_stride_limitation ( const double(&) _overwritable_stride_limitation[5] ) [inline]

Definition at line 1287 of file GaitGenerator.h.

bool rats::gait_generator::set_overwrite_foot_step_index ( const size_t idx ) [inline]

Definition at line 1316 of file GaitGenerator.h.

void rats::gait_generator::set_overwrite_foot_steps_list ( const std::vector< std::vector< step_node > > & fnsl ) [inline]

Definition at line 1270 of file GaitGenerator.h.

void rats::gait_generator::set_stair_trajectory_way_point_offset ( const hrp::Vector3 _offset ) [inline]

Definition at line 1245 of file GaitGenerator.h.

void rats::gait_generator::set_stride_limitation_for_circle_type ( const double(&) _stride_limitation_for_circle_type[5] ) [inline]

Definition at line 1282 of file GaitGenerator.h.

void rats::gait_generator::set_stride_limitation_type ( const stride_limitation_type _tmp ) [inline]

Definition at line 1308 of file GaitGenerator.h.

void rats::gait_generator::set_stride_parameters	(	const double	_stride_fwd_x,
		const double	_stride_outside_y,
		const double	_stride_outside_theta,
		const double	_stride_bwd_x,
		const double	_stride_inside_y,
		const double	_stride_inside_theta
	)		`[inline]`