#include <GaitGenerator.h>

Public Member Functions
void	calc_swing_leg_src_steps (std::vector< step_node > &ret_swing_leg_src_steps, const std::vector< std::vector< step_node > > &fnsl, const size_t _footstep_index)
void	calc_swing_support_params_from_footstep_nodes_list (const std::vector< std::vector< step_node > > &fnsl)
void	clear_interpolators ()
std::vector< leg_type >	get_current_support_states () const
double	get_current_swing_time (const size_t idx) const
double	get_current_toe_heel_ratio (const bool _use_toe_heel_transition) const
hrp::Vector3	get_cycloid_delay_kick_point_offset () const
orbit_type	get_default_orbit_type () const
double	get_default_step_height () const
double	get_foot_dif_rot_angle () const
size_t	get_footstep_index () const
double	get_heel_angle () const
double	get_heel_pos_offset_x () const
size_t	get_lcg_count () const
hrp::Vector3	get_stair_trajectory_way_point_offset () const
const std::vector< step_node > &	get_support_leg_steps () const
const std::vector< step_node > &	get_support_leg_steps_idx (const size_t idx) const
const std::vector< leg_type > &	get_support_leg_types () const
const std::vector< step_node > &	get_swing_leg_dst_steps () const
const std::vector< step_node > &	get_swing_leg_dst_steps_idx (const size_t idx) const
const std::vector< step_node > &	get_swing_leg_src_steps () const
const std::vector< step_node > &	get_swing_leg_steps () const
const std::vector< leg_type > &	get_swing_leg_types () 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
void	get_toe_heel_phase_ratio (std::vector< double > &ratio) const
double	get_toe_pos_offset_x () const
bool	get_use_toe_heel_auto_set () const
bool	get_use_toe_joint () const
bool	is_same_footstep_nodes (const std::vector< step_node > &fns_1, const std::vector< step_node > &fns_2) const
	leg_coords_generator (const double _dt)
void	reset (const size_t _one_step_count, const size_t _next_one_step_count, const std::vector< step_node > &_swing_leg_dst_steps, const std::vector< step_node > &_swing_leg_src_steps, const std::vector< step_node > &_support_leg_steps, const double default_double_support_ratio_before, const double default_double_support_ratio_after)
void	set_cycloid_delay_kick_point_offset (const hrp::Vector3 _offset)
void	set_default_orbit_type (const orbit_type _tmp)
void	set_default_step_height (const double _tmp)
void	set_default_top_ratio (const double _tmp)
void	set_heel_angle (const double _angle)
void	set_heel_pos_offset_x (const double _offx)
void	set_stair_trajectory_way_point_offset (const hrp::Vector3 _offset)
void	set_swing_support_steps_list (const std::vector< std::vector< step_node > > &fnsl)
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)
bool	set_toe_heel_phase_ratio (const std::vector< double > &ratio)
void	set_toe_pos_offset_x (const double _offx)
void	set_use_toe_heel_auto_set (const bool ut)
void	set_use_toe_joint (const bool ut)
void	update_leg_steps (const std::vector< std::vector< step_node > > &fnsl, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const toe_heel_type_checker &thtc)
	~leg_coords_generator ()
Private Member Functions
void	calc_current_swing_foot_rot (std::map< leg_type, hrp::Vector3 > &tmp_swing_foot_rot, const double _default_double_support_ratio_before, const double _default_double_support_ratio_after)
void	calc_current_swing_leg_steps (std::vector< step_node > &rets, const double step_height, const double _current_toe_angle, const double _current_heel_angle, const double _default_double_support_ratio_before, const double _default_double_support_ratio_after)
double	calc_interpolated_toe_heel_angle (const toe_heel_phase start_phase, const toe_heel_phase goal_phase, const double start, const double goal)
void	calc_ratio_from_double_support_ratio (const double default_double_support_ratio_before, const double default_double_support_ratio_after)
void	calc_swing_support_mid_coords ()
void	cross_delay_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, leg_type lr)
void	cycloid_delay_kick_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height)
void	cycloid_delay_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, const size_t swing_trajectory_generator_idx)
void	cycloid_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height) const
void	modif_foot_coords_for_toe_heel_phase (coordinates &org_coords, const double _current_toe_angle, const double _current_heel_angle)
void	rectangle_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, const size_t swing_trajectory_generator_idx)
void	stair_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height)
Private Attributes
cycloid_delay_kick_hoffarbib_trajectory_generator	cdktg
std::vector < cycloid_delay_hoffarbib_trajectory_generator >	cdtg
cross_delay_hoffarbib_trajectory_generator	crdtg
toe_heel_type	current_dst_toe_heel_type
double	current_heel_angle
toe_heel_type	current_src_toe_heel_type
double	current_step_height
std::vector< double >	current_swing_time
double	current_toe_angle
orbit_type	default_orbit_type
double	default_step_height
double	default_top_ratio
double	dt
double	final_distance_weight
double	foot_dif_rot_angle
interpolator *	foot_midcoords_interpolator
size_t	footstep_index
double	heel_angle
double	heel_pos_offset_x
bool	is_swing_phase
size_t	lcg_count
size_t	next_one_step_count
size_t	one_step_count
std::vector < rectangle_delay_hoffarbib_trajectory_generator >	rdtg
stair_delay_hoffarbib_trajectory_generator	sdtg
std::vector< step_node >	support_leg_steps
std::vector< std::vector < step_node > >	support_leg_steps_list
std::vector< leg_type >	support_leg_types
std::map< leg_type, interpolator * >	swing_foot_rot_interpolator
std::vector< step_node >	swing_leg_dst_steps
std::vector< std::vector < step_node > >	swing_leg_dst_steps_list
std::vector< step_node >	swing_leg_src_steps
std::vector< step_node >	swing_leg_steps
std::vector< leg_type >	swing_leg_types
double	swing_ratio
coordinates	swing_support_midcoords
toe_heel_phase_counter	thp
double	time_offset
double	time_offset_xy2z
double	toe_angle
double	toe_heel_dif_angle
interpolator *	toe_heel_interpolator
double	toe_pos_offset_x
bool	use_toe_heel_auto_set
bool	use_toe_joint

Detailed Description

Definition at line 685 of file GaitGenerator.h.

Constructor & Destructor Documentation

rats::leg_coords_generator::leg_coords_generator ( const double _dt ) [inline]

Definition at line 743 of file GaitGenerator.h.

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

Definition at line 775 of file GaitGenerator.h.

Member Function Documentation

void rats::leg_coords_generator::calc_current_swing_foot_rot	(	std::map< leg_type, hrp::Vector3 > &	tmp_swing_foot_rot,
		const double	_default_double_support_ratio_before,
		const double	_default_double_support_ratio_after
	)		`[private]`

Definition at line 224 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_current_swing_leg_steps	(	std::vector< step_node > &	rets,
		const double	step_height,
		const double	_current_toe_angle,
		const double	_current_heel_angle,
		const double	_default_double_support_ratio_before,
		const double	_default_double_support_ratio_after
	)		`[private]`

Definition at line 269 of file GaitGenerator.cpp.

double rats::leg_coords_generator::calc_interpolated_toe_heel_angle	(	const toe_heel_phase	start_phase,
		const toe_heel_phase	goal_phase,
		const double	start,
		const double	goal
	)		`[private]`

Definition at line 354 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_ratio_from_double_support_ratio	(	const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after
	)		`[private]`

Definition at line 317 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_swing_leg_src_steps	(	std::vector< step_node > &	ret_swing_leg_src_steps,
		const std::vector< std::vector< step_node > > &	fnsl,
		const size_t	_footstep_index
	)		`[inline]`

Definition at line 921 of file GaitGenerator.h.

void rats::leg_coords_generator::calc_swing_support_mid_coords ( ) [private]

Definition at line 481 of file GaitGenerator.cpp.

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

Definition at line 941 of file GaitGenerator.h.

void rats::leg_coords_generator::clear_interpolators ( ) [inline]

Definition at line 905 of file GaitGenerator.h.

void rats::leg_coords_generator::cross_delay_midcoords	(	coordinates &	ret,
		const coordinates &	start,
		const coordinates &	goal,
		const double	height,
		leg_type	lr
	)		`[private]`

Definition at line 457 of file GaitGenerator.cpp.

void rats::leg_coords_generator::cycloid_delay_kick_midcoords	(	coordinates &	ret,
		const coordinates &	start,
		const coordinates &	goal,
		const double	height
	)		`[private]`

Definition at line 450 of file GaitGenerator.cpp.

void rats::leg_coords_generator::cycloid_delay_midcoords	(	coordinates &	ret,
		const coordinates &	start,
		const coordinates &	goal,
		const double	height,
		const size_t	swing_trajectory_generator_idx
	)		`[private]`

Definition at line 444 of file GaitGenerator.cpp.

void rats::leg_coords_generator::cycloid_midcoords	(	coordinates &	ret,
		const coordinates &	start,
		const coordinates &	goal,
		const double	height
	)		const `[private]`

Definition at line 426 of file GaitGenerator.cpp.

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

Definition at line 975 of file GaitGenerator.h.

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

Definition at line 961 of file GaitGenerator.h.

double rats::leg_coords_generator::get_current_toe_heel_ratio ( const bool _use_toe_heel_transition ) const [inline]

Definition at line 1000 of file GaitGenerator.h.

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

Definition at line 991 of file GaitGenerator.h.

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

Definition at line 986 of file GaitGenerator.h.

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

Definition at line 970 of file GaitGenerator.h.

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

Definition at line 996 of file GaitGenerator.h.

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

Definition at line 959 of file GaitGenerator.h.

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

Definition at line 995 of file GaitGenerator.h.

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

Definition at line 993 of file GaitGenerator.h.

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

Definition at line 960 of file GaitGenerator.h.

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

Definition at line 990 of file GaitGenerator.h.

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

Definition at line 963 of file GaitGenerator.h.

const std::vector<step_node>& rats::leg_coords_generator::get_support_leg_steps_idx ( const size_t idx ) const [inline]

Definition at line 967 of file GaitGenerator.h.

const std::vector<leg_type>& rats::leg_coords_generator::get_support_leg_types ( ) const [inline]

Definition at line 968 of file GaitGenerator.h.

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

Definition at line 965 of file GaitGenerator.h.

const std::vector<step_node>& rats::leg_coords_generator::get_swing_leg_dst_steps_idx ( const size_t idx ) const [inline]

Definition at line 966 of file GaitGenerator.h.

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

Definition at line 964 of file GaitGenerator.h.

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

Definition at line 962 of file GaitGenerator.h.

const std::vector<leg_type>& rats::leg_coords_generator::get_swing_leg_types ( ) const [inline]

Definition at line 969 of file GaitGenerator.h.

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

Definition at line 971 of file GaitGenerator.h.

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

Definition at line 987 of file GaitGenerator.h.

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

Definition at line 988 of file GaitGenerator.h.

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

Definition at line 989 of file GaitGenerator.h.

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

Definition at line 994 of file GaitGenerator.h.

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

Definition at line 999 of file GaitGenerator.h.

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

Definition at line 992 of file GaitGenerator.h.

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

Definition at line 998 of file GaitGenerator.h.

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

Definition at line 997 of file GaitGenerator.h.

bool rats::leg_coords_generator::is_same_footstep_nodes	(	const std::vector< step_node > &	fns_1,
		const std::vector< step_node > &	fns_2
	)		const

Definition at line 464 of file GaitGenerator.cpp.

void rats::leg_coords_generator::modif_foot_coords_for_toe_heel_phase	(	coordinates &	org_coords,
		const double	_current_toe_angle,
		const double	_current_heel_angle
	)		`[private]`

Definition at line 373 of file GaitGenerator.cpp.

void rats::leg_coords_generator::rectangle_midcoords	(	coordinates &	ret,
		const coordinates &	start,
		const coordinates &	goal,
		const double	height,
		const size_t	swing_trajectory_generator_idx
	)		`[private]`

Definition at line 432 of file GaitGenerator.cpp.

void rats::leg_coords_generator::reset	(	const size_t	_one_step_count,
		const size_t	_next_one_step_count,
		const std::vector< step_node > &	_swing_leg_dst_steps,
		const std::vector< step_node > &	_swing_leg_src_steps,
		const std::vector< step_node > &	_support_leg_steps,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after
	)		`[inline]`

Definition at line 853 of file GaitGenerator.h.

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

Definition at line 817 of file GaitGenerator.h.

void rats::leg_coords_generator::set_default_orbit_type ( const orbit_type _tmp ) [inline]

Definition at line 794 of file GaitGenerator.h.

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

Definition at line 792 of file GaitGenerator.h.

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

Definition at line 793 of file GaitGenerator.h.

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

Definition at line 821 of file GaitGenerator.h.

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

Definition at line 819 of file GaitGenerator.h.

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

Definition at line 816 of file GaitGenerator.h.

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

Definition at line 824 of file GaitGenerator.h.

void rats::leg_coords_generator::set_swing_trajectory_delay_time_offset ( const double _time_offset ) [inline]

Definition at line 795 of file GaitGenerator.h.

void rats::leg_coords_generator::set_swing_trajectory_final_distance_weight ( const double _final_distance_weight ) [inline]

Definition at line 802 of file GaitGenerator.h.

void rats::leg_coords_generator::set_swing_trajectory_time_offset_xy2z ( const double _tmp ) [inline]

Definition at line 809 of file GaitGenerator.h.

void rats::leg_coords_generator::set_toe_angle ( const double _angle ) [inline]

Definition at line 820 of file GaitGenerator.h.

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

Definition at line 852 of file GaitGenerator.h.

void rats::leg_coords_generator::set_toe_pos_offset_x ( const double _offx ) [inline]

Definition at line 818 of file GaitGenerator.h.

void rats::leg_coords_generator::set_use_toe_heel_auto_set ( const bool ut ) [inline]

Definition at line 823 of file GaitGenerator.h.

void rats::leg_coords_generator::set_use_toe_joint ( const bool ut ) [inline]

Definition at line 822 of file GaitGenerator.h.

void rats::leg_coords_generator::stair_midcoords	(	coordinates &	ret,
		const coordinates &	start,
		const coordinates &	goal,
		const double	height
	)		`[private]`

Definition at line 438 of file GaitGenerator.cpp.

void rats::leg_coords_generator::update_leg_steps	(	const std::vector< std::vector< step_node > > &	fnsl,
		const double	default_double_support_ratio_before,
		const double	default_double_support_ratio_after,
		const toe_heel_type_checker &	thtc
	)