Public Member Functions | Private Attributes | List of all members
WholebodyControl Class Reference

#include <wholebody_control.h>

Public Member Functions

void finalize ()
 
void getGroupPose (std::string name, geometry_msgs::Pose *msg)
 
std::vector< double_t > getJointAcceleration (double time)
 
std::vector< double_t > getJointPosition (double time)
 
std::vector< double_t > getJointVelocity (double time)
 
std::vector< double_t > getTaskAcceleration (double time)
 
void getTaskOrientation (std::vector< double_t > &l_foot_Q, std::vector< double_t > &r_foot_Q, std::vector< double_t > &body_Q)
 
void getTaskPosition (std::vector< double_t > &l_foot_pos, std::vector< double_t > &r_foot_pos, std::vector< double_t > &body_pos)
 
std::vector< double_t > getTaskVelocity (double time)
 
void initialize (std::vector< double_t > init_body_pos, std::vector< double_t > init_body_rot, std::vector< double_t > init_r_foot_pos, std::vector< double_t > init_r_foot_Q, std::vector< double_t > init_l_foot_pos, std::vector< double_t > init_l_foot_Q)
 
void set (double time)
 
void update ()
 
 WholebodyControl (std::string control_group, double init_time, double fin_time, geometry_msgs::Pose goal_msg)
 
virtual ~WholebodyControl ()
 

Private Attributes

std::string control_group_
 
std::vector< double_t > des_body_accel_
 
std::vector< double_t > des_body_pos_
 
Eigen::Quaterniond des_body_Q_
 
std::vector< double_t > des_body_vel_
 
std::vector< double_t > des_l_foot_accel_
 
std::vector< double_t > des_l_foot_pos_
 
Eigen::Quaterniond des_l_foot_Q_
 
std::vector< double_t > des_l_foot_vel_
 
std::vector< double_t > des_r_foot_accel_
 
std::vector< double_t > des_r_foot_pos_
 
Eigen::Quaterniond des_r_foot_Q_
 
std::vector< double_t > des_r_foot_vel_
 
Eigen::Quaterniond des_task_Q_
 
int end_link_
 
double fin_time_
 
std::vector< double_t > goal_body_accel_
 
std::vector< double_t > goal_body_pos_
 
Eigen::Quaterniond goal_body_Q_
 
std::vector< double_t > goal_body_vel_
 
std::vector< double_t > goal_l_foot_accel_
 
std::vector< double_t > goal_l_foot_pos_
 
Eigen::Quaterniond goal_l_foot_Q_
 
std::vector< double_t > goal_l_foot_vel_
 
geometry_msgs::Pose goal_msg_
 
std::vector< double_t > goal_r_foot_accel_
 
std::vector< double_t > goal_r_foot_pos_
 
Eigen::Quaterniond goal_r_foot_Q_
 
std::vector< double_t > goal_r_foot_vel_
 
std::vector< double_t > goal_task_accel_
 
std::vector< double_t > goal_task_pos_
 
Eigen::Quaterniond goal_task_Q_
 
std::vector< double_t > goal_task_vel_
 
std::vector< double_t > init_body_accel_
 
std::vector< double_t > init_body_pos_
 
Eigen::Quaterniond init_body_Q_
 
std::vector< double_t > init_body_vel_
 
std::vector< double_t > init_l_foot_accel_
 
std::vector< double_t > init_l_foot_pos_
 
Eigen::Quaterniond init_l_foot_Q_
 
std::vector< double_t > init_l_foot_vel_
 
std::vector< double_t > init_r_foot_accel_
 
std::vector< double_t > init_r_foot_pos_
 
Eigen::Quaterniond init_r_foot_Q_
 
std::vector< double_t > init_r_foot_vel_
 
Eigen::Quaterniond init_task_Q_
 
double init_time_
 
robotis_framework::MinimumJerk * task_trajectory_
 

Detailed Description

Definition at line 33 of file wholebody_control.h.

Constructor & Destructor Documentation

WholebodyControl::WholebodyControl ( std::string  control_group,
double  init_time,
double  fin_time,
geometry_msgs::Pose  goal_msg 
)

Definition at line 22 of file wholebody_control.cpp.

WholebodyControl::~WholebodyControl ( )
virtual

Definition at line 77 of file wholebody_control.cpp.

Member Function Documentation

void WholebodyControl::finalize ( )

Definition at line 138 of file wholebody_control.cpp.

void WholebodyControl::getGroupPose ( std::string  name,
geometry_msgs::Pose *  msg 
)

Definition at line 239 of file wholebody_control.cpp.

std::vector< double_t > WholebodyControl::getJointAcceleration ( double  time)

Definition at line 196 of file wholebody_control.cpp.

std::vector< double_t > WholebodyControl::getJointPosition ( double  time)

Definition at line 186 of file wholebody_control.cpp.

std::vector< double_t > WholebodyControl::getJointVelocity ( double  time)

Definition at line 191 of file wholebody_control.cpp.

std::vector< double_t > WholebodyControl::getTaskAcceleration ( double  time)

Definition at line 215 of file wholebody_control.cpp.

void WholebodyControl::getTaskOrientation ( std::vector< double_t > &  l_foot_Q,
std::vector< double_t > &  r_foot_Q,
std::vector< double_t > &  body_Q 
)

Definition at line 220 of file wholebody_control.cpp.

void WholebodyControl::getTaskPosition ( std::vector< double_t > &  l_foot_pos,
std::vector< double_t > &  r_foot_pos,
std::vector< double_t > &  body_pos 
)

Definition at line 201 of file wholebody_control.cpp.

std::vector< double_t > WholebodyControl::getTaskVelocity ( double  time)

Definition at line 210 of file wholebody_control.cpp.

void WholebodyControl::initialize ( std::vector< double_t >  init_body_pos,
std::vector< double_t >  init_body_rot,
std::vector< double_t >  init_r_foot_pos,
std::vector< double_t >  init_r_foot_Q,
std::vector< double_t >  init_l_foot_pos,
std::vector< double_t >  init_l_foot_Q 
)

Definition at line 82 of file wholebody_control.cpp.

void WholebodyControl::set ( double  time)

Definition at line 143 of file wholebody_control.cpp.

void WholebodyControl::update ( )

Definition at line 133 of file wholebody_control.cpp.

Member Data Documentation

std::string WholebodyControl::control_group_
private

Definition at line 67 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_body_accel_
private

Definition at line 73 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_body_pos_
private

Definition at line 73 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::des_body_Q_
private

Definition at line 75 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_body_vel_
private

Definition at line 73 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_l_foot_accel_
private

Definition at line 78 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_l_foot_pos_
private

Definition at line 78 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::des_l_foot_Q_
private

Definition at line 80 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_l_foot_vel_
private

Definition at line 78 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_r_foot_accel_
private

Definition at line 83 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_r_foot_pos_
private

Definition at line 83 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::des_r_foot_Q_
private

Definition at line 85 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::des_r_foot_vel_
private

Definition at line 83 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::des_task_Q_
private

Definition at line 88 of file wholebody_control.h.

int WholebodyControl::end_link_
private

Definition at line 68 of file wholebody_control.h.

double WholebodyControl::fin_time_
private

Definition at line 69 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_body_accel_
private

Definition at line 74 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_body_pos_
private

Definition at line 74 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::goal_body_Q_
private

Definition at line 75 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_body_vel_
private

Definition at line 74 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_l_foot_accel_
private

Definition at line 79 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_l_foot_pos_
private

Definition at line 79 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::goal_l_foot_Q_
private

Definition at line 80 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_l_foot_vel_
private

Definition at line 79 of file wholebody_control.h.

geometry_msgs::Pose WholebodyControl::goal_msg_
private

Definition at line 70 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_r_foot_accel_
private

Definition at line 84 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_r_foot_pos_
private

Definition at line 84 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::goal_r_foot_Q_
private

Definition at line 85 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_r_foot_vel_
private

Definition at line 84 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_task_accel_
private

Definition at line 87 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_task_pos_
private

Definition at line 87 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::goal_task_Q_
private

Definition at line 88 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::goal_task_vel_
private

Definition at line 87 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_body_accel_
private

Definition at line 72 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_body_pos_
private

Definition at line 72 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::init_body_Q_
private

Definition at line 75 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_body_vel_
private

Definition at line 72 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_l_foot_accel_
private

Definition at line 77 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_l_foot_pos_
private

Definition at line 77 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::init_l_foot_Q_
private

Definition at line 80 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_l_foot_vel_
private

Definition at line 77 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_r_foot_accel_
private

Definition at line 82 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_r_foot_pos_
private

Definition at line 82 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::init_r_foot_Q_
private

Definition at line 85 of file wholebody_control.h.

std::vector<double_t> WholebodyControl::init_r_foot_vel_
private

Definition at line 82 of file wholebody_control.h.

Eigen::Quaterniond WholebodyControl::init_task_Q_
private

Definition at line 88 of file wholebody_control.h.

double WholebodyControl::init_time_
private

Definition at line 69 of file wholebody_control.h.

robotis_framework::MinimumJerk* WholebodyControl::task_trajectory_
private

Definition at line 65 of file wholebody_control.h.

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

op3_online_walking_module
Author(s): SCH
autogenerated on Mon Jun 10 2019 14:41:22