#include <op3_walking_module.h>

Inheritance diagram for robotis_op::WalkingModule:

Public Types
enum	{ PHASE0 = 0, PHASE1 = 1, PHASE2 = 2, PHASE3 = 3 }

Public Member Functions
double	getBodySwingY ()

double	getBodySwingZ ()

int	getCurrentPhase ()

void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

bool	isRunning ()

void	onModuleDisable ()

void	onModuleEnable ()

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)

void	stop ()

	WalkingModule ()

virtual	~WalkingModule ()

Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()

bool	getModuleEnable ()

std::string	getModuleName ()

void	setModuleEnable (bool enable)

virtual	~MotionModule ()

Private Types
enum	{ WalkingDisable = 0, WalkingEnable = 1, WalkingInitPose = 2, WalkingReady = 3 }

Private Member Functions
void	computeArmAngle (double *arm_angle)

bool	computeIK (double *out, double x, double y, double z, double a, double b, double c)

bool	computeLegAngle (double *leg_angle)

bool	getWalkigParameterCallback (op3_walking_module_msgs::GetWalkingParam::Request &req, op3_walking_module_msgs::GetWalkingParam::Response &res)

void	iniPoseTraGene (double mov_time)

void	loadWalkingParam (const std::string &path)

void	processPhase (const double &time_unit)

void	publishStatusMsg (unsigned int type, std::string msg)

void	queueThread ()

void	saveWalkingParam (std::string &path)

void	sensoryFeedback (const double &rlGyroErr, const double &fbGyroErr, double *balance_angle)

void	startWalking ()

void	updateMovementParam ()

void	updatePoseParam ()

void	updateTimeParam ()

void	walkingCommandCallback (const std_msgs::String::ConstPtr &msg)

void	walkingParameterCallback (const op3_walking_module_msgs::WalkingParam::ConstPtr &msg)

double	wSin (double time, double period, double period_shift, double mag, double mag_shift)

Private Attributes
double	a_move_amplitude_

double	a_move_amplitude_shift_

double	a_move_period_time_

double	a_move_phase_shift_

double	a_offset_

double	arm_swing_gain_

double	body_swing_y

double	body_swing_z

Eigen::MatrixXd	calc_joint_tra_

int	control_cycle_msec_

bool	ctrl_running_

const bool	DEBUG

double	dsp_ratio_

Eigen::MatrixXd	goal_position_

double	hit_pitch_offset_

int	init_pose_count_

Eigen::MatrixXd	init_position_

Eigen::MatrixXi	joint_axis_direction_

std::map< std::string, int >	joint_table_

double	l_ssp_end_time_

double	l_ssp_start_time_

OP3KinematicsDynamics *	op3_kd_

double	p_offset_

std::string	param_path_

double	pelvis_offset_

double	pelvis_swing_

double	period_time_

double	phase1_time_

double	phase2_time_

double	phase3_time_

int	phase_

double	previous_x_move_amplitude_

boost::mutex	publish_mutex_

boost::thread	queue_thread_

double	r_offset_

double	r_ssp_end_time_

double	r_ssp_start_time_

bool	real_running_

ros::Publisher	robot_pose_pub_

double	ssp_ratio_

double	ssp_time_

ros::Publisher	status_msg_pub_

Eigen::MatrixXd	target_position_

double	time_

op3_walking_module_msgs::WalkingParam	walking_param_

int	walking_state_

double	x_move_amplitude_

double	x_move_amplitude_shift_

double	x_move_period_time_

double	x_move_phase_shift_

double	x_offset_

double	x_swap_amplitude_

double	x_swap_amplitude_shift_

double	x_swap_period_time_

double	x_swap_phase_shift_

double	y_move_amplitude_

double	y_move_amplitude_shift_

double	y_move_period_time_

double	y_move_phase_shift_

double	y_offset_

double	y_swap_amplitude_

double	y_swap_amplitude_shift_

double	y_swap_period_time_

double	y_swap_phase_shift_

double	z_move_amplitude_

double	z_move_amplitude_shift_

double	z_move_period_time_

double	z_move_phase_shift_

double	z_offset_

double	z_swap_amplitude_

double	z_swap_amplitude_shift_

double	z_swap_period_time_

double	z_swap_phase_shift_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< WalkingModule >
static void	destroyInstance ()

static T *	getInstance ()

Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Protected Member Functions inherited from robotis_framework::Singleton< WalkingModule >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_

bool	enable_

std::string	module_name_

Detailed Description

Definition at line 61 of file op3_walking_module.h.

Member Enumeration Documentation

anonymous enum

Enumerator
PHASE0
PHASE1
PHASE2
PHASE3

Definition at line 65 of file op3_walking_module.h.

anonymous enum

private

Enumerator
WalkingDisable
WalkingEnable
WalkingInitPose
WalkingReady

Definition at line 97 of file op3_walking_module.h.

Constructor & Destructor Documentation

robotis_op::WalkingModule::WalkingModule ( )

Definition at line 24 of file op3_walking_module.cpp.

robotis_op::WalkingModule::~WalkingModule ( )

virtual

Definition at line 80 of file op3_walking_module.cpp.

Member Function Documentation

void robotis_op::WalkingModule::computeArmAngle ( double * arm_angle )

private

Definition at line 863 of file op3_walking_module.cpp.

bool robotis_op::WalkingModule::computeIK	(	double *	out,
		double	x,
		double	y,
		double	z,
		double	a,
		double	b,
		double	c
	)

private

Definition at line 237 of file op3_walking_module.cpp.

bool robotis_op::WalkingModule::computeLegAngle ( double * leg_angle )

private

Definition at line 625 of file op3_walking_module.cpp.

double robotis_op::WalkingModule::getBodySwingY ( )

inline

Definition at line 87 of file op3_walking_module.h.

double robotis_op::WalkingModule::getBodySwingZ ( )

inline

Definition at line 91 of file op3_walking_module.h.

int robotis_op::WalkingModule::getCurrentPhase ( )

inline

Definition at line 83 of file op3_walking_module.h.

bool robotis_op::WalkingModule::getWalkigParameterCallback	(	op3_walking_module_msgs::GetWalkingParam::Request &	req,
		op3_walking_module_msgs::GetWalkingParam::Response &	res
	)

private

Definition at line 222 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::iniPoseTraGene ( double mov_time )

private

Definition at line 1006 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 85 of file op3_walking_module.cpp.

bool robotis_op::WalkingModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 418 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::loadWalkingParam ( const std::string & path )

private

Definition at line 910 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::onModuleDisable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 1000 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::onModuleEnable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 994 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, double >	sensors
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 424 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::processPhase ( const double & time_unit )

private

Definition at line 568 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 186 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::queueThread ( )

private

Definition at line 160 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::saveWalkingParam ( std::string & path )

private

Definition at line 959 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::sensoryFeedback	(	const double &	rlGyroErr,
		const double &	fbGyroErr,
		double *	balance_angle
	)

private

Definition at line 880 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::startWalking ( )

private

Definition at line 404 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 412 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::updateMovementParam ( )

private

Definition at line 349 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::updatePoseParam ( )

private

Definition at line 393 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::updateTimeParam ( )

private

Definition at line 320 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::walkingCommandCallback ( const std_msgs::String::ConstPtr & msg )

private

Definition at line 197 of file op3_walking_module.cpp.

void robotis_op::WalkingModule::walkingParameterCallback ( const op3_walking_module_msgs::WalkingParam::ConstPtr & msg )

private

Definition at line 217 of file op3_walking_module.cpp.

double robotis_op::WalkingModule::wSin	(	double	time,
		double	period,
		double	period_shift,
		double	mag,
		double	mag_shift
	)

private

Definition at line 230 of file op3_walking_module.cpp.

Member Data Documentation

double robotis_op::WalkingModule::a_move_amplitude_

private

Definition at line 200 of file op3_walking_module.h.

double robotis_op::WalkingModule::a_move_amplitude_shift_

private

Definition at line 201 of file op3_walking_module.h.

double robotis_op::WalkingModule::a_move_period_time_

private

Definition at line 164 of file op3_walking_module.h.

double robotis_op::WalkingModule::a_move_phase_shift_

private

Definition at line 199 of file op3_walking_module.h.

double robotis_op::WalkingModule::a_offset_

private

Definition at line 179 of file op3_walking_module.h.

double robotis_op::WalkingModule::arm_swing_gain_

private

Definition at line 206 of file op3_walking_module.h.

double robotis_op::WalkingModule::body_swing_y

private

Definition at line 213 of file op3_walking_module.h.

double robotis_op::WalkingModule::body_swing_z

private

Definition at line 214 of file op3_walking_module.h.

Eigen::MatrixXd robotis_op::WalkingModule::calc_joint_tra_

private

Definition at line 142 of file op3_walking_module.h.

int robotis_op::WalkingModule::control_cycle_msec_

private

Definition at line 133 of file op3_walking_module.h.

bool robotis_op::WalkingModule::ctrl_running_

private

Definition at line 208 of file op3_walking_module.h.

const bool robotis_op::WalkingModule::DEBUG

private

Definition at line 105 of file op3_walking_module.h.

double robotis_op::WalkingModule::dsp_ratio_

private

Definition at line 156 of file op3_walking_module.h.

Eigen::MatrixXd robotis_op::WalkingModule::goal_position_

private

Definition at line 145 of file op3_walking_module.h.

double robotis_op::WalkingModule::hit_pitch_offset_

private

Definition at line 205 of file op3_walking_module.h.

int robotis_op::WalkingModule::init_pose_count_

private

Definition at line 150 of file op3_walking_module.h.

Eigen::MatrixXd robotis_op::WalkingModule::init_position_

private

Definition at line 146 of file op3_walking_module.h.

Eigen::MatrixXi robotis_op::WalkingModule::joint_axis_direction_

private

Definition at line 147 of file op3_walking_module.h.

std::map<std::string, int> robotis_op::WalkingModule::joint_table_

private

Definition at line 148 of file op3_walking_module.h.

double robotis_op::WalkingModule::l_ssp_end_time_

private

Definition at line 167 of file op3_walking_module.h.

double robotis_op::WalkingModule::l_ssp_start_time_

private

Definition at line 166 of file op3_walking_module.h.

OP3KinematicsDynamics* robotis_op::WalkingModule::op3_kd_

private

Definition at line 132 of file op3_walking_module.h.

double robotis_op::WalkingModule::p_offset_

private

Definition at line 178 of file op3_walking_module.h.

std::string robotis_op::WalkingModule::param_path_

private

Definition at line 134 of file op3_walking_module.h.

double robotis_op::WalkingModule::pelvis_offset_

private

Definition at line 203 of file op3_walking_module.h.

double robotis_op::WalkingModule::pelvis_swing_

private

Definition at line 204 of file op3_walking_module.h.

double robotis_op::WalkingModule::period_time_

private

Definition at line 155 of file op3_walking_module.h.

double robotis_op::WalkingModule::phase1_time_

private

Definition at line 170 of file op3_walking_module.h.

double robotis_op::WalkingModule::phase2_time_

private

Definition at line 171 of file op3_walking_module.h.

double robotis_op::WalkingModule::phase3_time_

private

Definition at line 172 of file op3_walking_module.h.

int robotis_op::WalkingModule::phase_

private

Definition at line 212 of file op3_walking_module.h.

double robotis_op::WalkingModule::previous_x_move_amplitude_

private

Definition at line 152 of file op3_walking_module.h.

boost::mutex robotis_op::WalkingModule::publish_mutex_

private

Definition at line 136 of file op3_walking_module.h.

boost::thread robotis_op::WalkingModule::queue_thread_

private

Definition at line 135 of file op3_walking_module.h.

double robotis_op::WalkingModule::r_offset_

private

Definition at line 177 of file op3_walking_module.h.

double robotis_op::WalkingModule::r_ssp_end_time_

private

Definition at line 169 of file op3_walking_module.h.

double robotis_op::WalkingModule::r_ssp_start_time_

private

Definition at line 168 of file op3_walking_module.h.

bool robotis_op::WalkingModule::real_running_

private

Definition at line 209 of file op3_walking_module.h.

ros::Publisher robotis_op::WalkingModule::robot_pose_pub_

private

Definition at line 139 of file op3_walking_module.h.

double robotis_op::WalkingModule::ssp_ratio_

private

Definition at line 157 of file op3_walking_module.h.

double robotis_op::WalkingModule::ssp_time_

private

Definition at line 165 of file op3_walking_module.h.

ros::Publisher robotis_op::WalkingModule::status_msg_pub_

private

Definition at line 140 of file op3_walking_module.h.

Eigen::MatrixXd robotis_op::WalkingModule::target_position_

private

Definition at line 144 of file op3_walking_module.h.

double robotis_op::WalkingModule::time_

private

Definition at line 210 of file op3_walking_module.h.

op3_walking_module_msgs::WalkingParam robotis_op::WalkingModule::walking_param_

private

Definition at line 151 of file op3_walking_module.h.

int robotis_op::WalkingModule::walking_state_

private

Definition at line 149 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_move_amplitude_

private

Definition at line 185 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_move_amplitude_shift_

private

Definition at line 186 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_move_period_time_

private

Definition at line 159 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_move_phase_shift_

private

Definition at line 184 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_offset_

private

Definition at line 174 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_swap_amplitude_

private

Definition at line 182 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_swap_amplitude_shift_

private

Definition at line 183 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_swap_period_time_

private

Definition at line 158 of file op3_walking_module.h.

double robotis_op::WalkingModule::x_swap_phase_shift_

private

Definition at line 181 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_move_amplitude_

private

Definition at line 191 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_move_amplitude_shift_

private

Definition at line 192 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_move_period_time_

private

Definition at line 161 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_move_phase_shift_

private

Definition at line 190 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_offset_

private

Definition at line 175 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_swap_amplitude_

private

Definition at line 188 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_swap_amplitude_shift_

private

Definition at line 189 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_swap_period_time_

private

Definition at line 160 of file op3_walking_module.h.

double robotis_op::WalkingModule::y_swap_phase_shift_

private

Definition at line 187 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_move_amplitude_

private

Definition at line 197 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_move_amplitude_shift_

private

Definition at line 198 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_move_period_time_

private

Definition at line 163 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_move_phase_shift_

private

Definition at line 196 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_offset_

private

Definition at line 176 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_swap_amplitude_

private

Definition at line 194 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_swap_amplitude_shift_

private

Definition at line 195 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_swap_period_time_

private

Definition at line 162 of file op3_walking_module.h.

double robotis_op::WalkingModule::z_swap_phase_shift_

private

Definition at line 193 of file op3_walking_module.h.

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

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation