footstep_planner::Footstep Class Reference

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. More...
PlanningState	performMeOnThisState (const PlanningState &current) const
	Performs this footstep (translation and rotation) on a given planning state. More...
PlanningState	reverseMeOnThisState (const PlanningState &current) const
	Reverse this footstep on a given planning state. More...
	~Footstep ()

Private Types
typedef std::pair< int, int >	footstep_xy
	Typedef representing the (discretized) translation of the footstep. More...

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. More...
void	init (double x, double y)
	Initialization method called within the constructor. More...

Private Attributes
double	ivCellSize
	The parameter for the discretization of the translation. More...
std::vector< footstep_xy >	ivDiscPredecessorLeft
	The reversed (discretized) translation(s) for a left supporting foot. More...
std::vector< footstep_xy >	ivDiscPredecessorRight
	The reversed (discretized) translation(s) for a right supporting foot. More...
std::vector< footstep_xy >	ivDiscSuccessorLeft
	The (discretized) translation(s) for a left supporting foot. More...
std::vector< footstep_xy >	ivDiscSuccessorRight
	The (discretized) translation(s) for a right supporting foot. More...
int	ivMaxHashSize
	The maximal hash size. More...
int	ivNumAngleBins
	The parameter for the discretization of the rotation. More...
int	ivTheta
	The (discretized) rotation of the footstep. More...

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.

void footstep_planner::Footstep::init ( double  x, double  y  )

private

Initialization method called within the constructor.

Definition at line 46 of file Footstep.cpp.

PlanningState footstep_planner::Footstep::performMeOnThisState

(

const PlanningState &

current

)

const

Performs this footstep (translation and rotation) on a given planning state.

Parameters

current

The planning state representing the robot's current supporting leg.

Returns

The resulting planning state.

Definition at line 69 of file Footstep.cpp.

PlanningState footstep_planner::Footstep::reverseMeOnThisState

(

const PlanningState &

current

)

const

Reverse this footstep on a given planning state.

Parameters

current

The planning state representing the robot's current supporting leg.

Returns

The reversed planning state, i.e. the state the robot was in if this footstep had not been performed.

Definition at line 106 of file Footstep.cpp.

Member Data Documentation

double footstep_planner::Footstep::ivCellSize

private

The parameter for the discretization of the translation.

Definition at line 111 of file Footstep.h.

std::vector<footstep_xy> footstep_planner::Footstep::ivDiscPredecessorLeft

private

The reversed (discretized) translation(s) for a left supporting foot.

Definition at line 123 of file Footstep.h.

std::vector<footstep_xy> footstep_planner::Footstep::ivDiscPredecessorRight

private

The reversed (discretized) translation(s) for a right supporting foot.

Definition at line 125 of file Footstep.h.

std::vector<footstep_xy> footstep_planner::Footstep::ivDiscSuccessorLeft

private

The (discretized) translation(s) for a left supporting foot.

Definition at line 119 of file Footstep.h.

std::vector<footstep_xy> footstep_planner::Footstep::ivDiscSuccessorRight

private

The (discretized) translation(s) for a right supporting foot.

Definition at line 121 of file Footstep.h.

int footstep_planner::Footstep::ivMaxHashSize

private

The maximal hash size.

Definition at line 116 of file Footstep.h.

int footstep_planner::Footstep::ivNumAngleBins

private

The parameter for the discretization of the rotation.

Definition at line 113 of file Footstep.h.

int footstep_planner::Footstep::ivTheta

private

The (discretized) rotation of the footstep.

Definition at line 108 of file Footstep.h.

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

• Footstep.h
• Footstep.cpp