Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
thormang3::THORMANG3OnlineWalking Class Reference

#include <thormang3_online_walking.h>

Inheritance diagram for thormang3::THORMANG3OnlineWalking:
Inheritance graph
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Public Member Functions

bool addStepData (robotis_framework::StepData step_data)
 
void eraseLastStepData ()
 
int getNumofRemainingUnreservedStepData ()
 
void getReferenceStepDatafotAddition (robotis_framework::StepData *ref_step_data_for_addition)
 
void initialize ()
 
bool isRunning ()
 
void process ()
 
void reInitialize ()
 
void setCurrentIMUSensorOutput (double gyro_x, double gyro_y, double quat_x, double quat_y, double quat_z, double quat_w)
 
void setInitalWaistYawAngle (double waist_yaw_angle_rad)
 
void setInitialLeftElbowAngle (double elbow_angle_rad)
 
void setInitialLeftShoulderAngle (double shoulder_angle_rad)
 
bool setInitialPose (double r_foot_x, double r_foot_y, double r_foot_z, double r_foot_roll, double r_foot_pitch, double r_foot_yaw, double l_foot_x, double l_foot_y, double l_foot_z, double l_foot_roll, double l_foot_pitch, double l_foot_yaw, double center_of_body_x, double center_of_body_y, double center_of_body_z, double center_of_body_roll, double center_of_body_pitch, double center_of_body_yaw)
 
void setInitialRightElbowAngle (double elbow_angle_rad)
 
void setInitialRightShoulderAngle (double shoulder_angle_rad)
 
void setRefZMPDecisionParameter (double X_ZMP_CenterShift, double Y_ZMP_CenterShift, double Y_ZMP_Convergence)
 
void start ()
 
void stop ()
 
 THORMANG3OnlineWalking ()
 
virtual ~THORMANG3OnlineWalking ()
 

Public Attributes

thormang3::BalanceControlUsingPDController balance_ctrl_
 
int balance_error_
 
double curr_angle_rad_ [12]
 
double current_gyro_pitch_rad_per_sec_
 
double current_gyro_roll_rad_per_sec_
 
double current_imu_pitch_rad_
 
double current_imu_roll_rad_
 
double current_left_fx_N_
 
double current_left_fy_N_
 
double current_left_fz_N_
 
double current_left_tx_Nm_
 
double current_left_ty_Nm_
 
double current_left_tz_Nm_
 
double current_right_fx_N_
 
double current_right_fy_N_
 
double current_right_fz_N_
 
double current_right_tx_Nm_
 
double current_right_ty_Nm_
 
double current_right_tz_Nm_
 
double hip_roll_feedforward_angle_rad_
 
double l_elbow_out_angle_rad_
 
double l_leg_out_angle_rad_ [6]
 
double l_shoulder_out_angle_rad_
 
thormang3::BalancePDController leg_angle_feed_back_ [12]
 
Eigen::MatrixXd mat_cob_to_g_
 
Eigen::MatrixXd mat_cob_to_lhip_
 
Eigen::MatrixXd mat_cob_to_rhip_
 
Eigen::MatrixXd mat_cob_to_robot_
 
Eigen::MatrixXd mat_current_imu_
 
Eigen::MatrixXd mat_g_to_cob_
 
Eigen::MatrixXd mat_g_to_lfoot_
 
Eigen::MatrixXd mat_g_to_rfoot_
 
Eigen::MatrixXd mat_g_to_robot_
 
Eigen::MatrixXd mat_lhip_to_cob_
 
Eigen::MatrixXd mat_rhip_to_cob_
 
Eigen::MatrixXd mat_robot_to_cob_
 
Eigen::MatrixXd mat_robot_to_g_
 
double out_angle_rad_ [16]
 
Eigen::Quaterniond quat_current_imu_
 
double r_elbow_out_angle_rad_
 
double r_leg_out_angle_rad_ [6]
 
double r_shoulder_out_angle_rad_
 

Private Member Functions

void calcDesiredPose ()
 
void calcRefZMP ()
 
void calcStepIdxData ()
 
void initBalanceOffset ()
 
void parseBalanceOffsetData (const std::string &path)
 
void setBalanceOffset ()
 
double wsigmoid (double time, double period, double time_shift, double mag, double mag_shift, double sigmoid_ratio, double distortion_ratio)
 
double wsin (double time, double period, double period_shift, double mag, double mag_shift)
 

Private Attributes

Eigen::MatrixXd A_
 
std::vector< robotis_framework::StepData > added_step_data_
 
Eigen::MatrixXd b_
 
int balancing_index_
 
robotis_framework::FifthOrderPolynomialTrajectory body_pitch_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory body_roll_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory body_yaw_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory body_z_swap_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory body_z_tra_
 
Eigen::MatrixXd c_
 
bool ctrl_running
 
int current_start_idx_for_ref_zmp_
 
robotis_framework::StepData current_step_data_
 
int current_step_data_status_
 
Eigen::MatrixXd des_balance_offset_
 
double elbow_swing_gain_
 
Eigen::MatrixXd f_
 
robotis_framework::MinimumJerkViaPoint * feed_forward_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory foot_pitch_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory foot_roll_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory foot_x_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory foot_y_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory foot_yaw_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory foot_z_swap_tra_
 
robotis_framework::FifthOrderPolynomialTrajectory foot_z_tra_
 
double goal_waist_yaw_angle_rad_
 
robotis_framework::FifthOrderPolynomialTrajectory hip_roll_swap_tra_
 
boost::mutex imu_data_mutex_lock_
 
bool init_balance_offset_
 
robotis_framework::Pose3D initial_body_pose_
 
robotis_framework::Pose3D initial_left_foot_pose_
 
robotis_framework::Pose3D initial_right_foot_pose_
 
double k_s_
 
Eigen::MatrixXd k_x_
 
double l_elbow_dir_
 
double l_init_elbow_angle_rad_
 
double l_init_shoulder_angle_rad_
 
double l_leg_to_body_pitch_gain_
 
double l_leg_to_body_roll_gain_
 
double l_shoulder_dir_
 
double left_dsp_fz_N_
 
double left_fz_trajectory_end_time_
 
double left_fz_trajectory_shift_
 
double left_fz_trajectory_start_time_
 
double left_fz_trajectory_target_
 
double left_ssp_fz_N_
 
robotis_framework::Pose3D lhip_to_lfoot_pose_
 
Eigen::MatrixXd mat_cob_to_robot_modified_
 
Eigen::MatrixXd mat_lfoot_to_lft_
 
Eigen::MatrixXd mat_rfoot_to_rft_
 
Eigen::MatrixXd mat_robot_to_cob_modified_
 
Eigen::MatrixXd mat_robot_to_lf_modified_
 
Eigen::MatrixXd mat_robot_to_lfoot_
 
Eigen::MatrixXd mat_robot_to_rf_modified_
 
Eigen::MatrixXd mat_robot_to_rfoot_
 
int mov_size_
 
int mov_step_
 
double mov_time_
 
robotis_framework::Pose3D present_body_pose_
 
robotis_framework::Pose3D present_left_foot_pose_
 
robotis_framework::Pose3D present_right_foot_pose_
 
double present_waist_yaw_angle_rad_
 
int preview_size_
 
double preview_time_
 
robotis_framework::Pose3D previous_step_body_pose_
 
robotis_framework::Pose3D previous_step_left_foot_pose_
 
robotis_framework::Pose3D previous_step_right_foot_pose_
 
double previous_step_waist_yaw_angle_rad_
 
double r_elbow_dir_
 
double r_init_elbow_angle_rad_
 
double r_init_shoulder_angle_rad_
 
double r_leg_to_body_pitch_gain_
 
double r_leg_to_body_roll_gain_
 
double r_shoulder_dir_
 
bool real_running
 
double ref_zmp_x_at_this_time_
 
double ref_zmp_y_at_this_time_
 
robotis_framework::StepData reference_step_data_for_addition_
 
double reference_time_
 
Eigen::MatrixXd reference_zmp_x_
 
Eigen::MatrixXd reference_zmp_y_
 
robotis_framework::Pose3D rhip_to_rfoot_pose_
 
double right_dsp_fz_N_
 
double right_ssp_fz_N_
 
Eigen::MatrixXd rot_x_pi_3d_
 
Eigen::MatrixXd rot_z_pi_3d_
 
double shouler_swing_gain_
 
boost::mutex step_data_mutex_lock_
 
Eigen::VectorXi step_idx_data_
 
double sum_of_cx_
 
double sum_of_cy_
 
double sum_of_zmp_x_
 
double sum_of_zmp_y_
 
KinematicsDynamics * thormang3_kd_
 
double total_mass_of_robot_
 
Eigen::MatrixXd u_x
 
Eigen::MatrixXd u_y
 
robotis_framework::FifthOrderPolynomialTrajectory waist_yaw_tra_
 
double walking_time_
 
Eigen::MatrixXd x_lipm_
 
Eigen::MatrixXd y_lipm_
 

Additional Inherited Members

- Static Public Member Functions inherited from robotis_framework::Singleton< THORMANG3OnlineWalking >
static void destroyInstance ()
 
static T * getInstance ()
 
- Protected Member Functions inherited from robotis_framework::Singleton< THORMANG3OnlineWalking >
Singleton & operator= (Singleton const &)
 
 Singleton (Singleton const &)
 
 Singleton ()
 

Detailed Description

Definition at line 46 of file thormang3_online_walking.h.

Constructor & Destructor Documentation

THORMANG3OnlineWalking::THORMANG3OnlineWalking ( )

Definition at line 63 of file thormang3_online_walking.cpp.

THORMANG3OnlineWalking::~THORMANG3OnlineWalking ( )
virtual

Definition at line 215 of file thormang3_online_walking.cpp.

Member Function Documentation

bool THORMANG3OnlineWalking::addStepData ( robotis_framework::StepData  step_data)

Definition at line 628 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::calcDesiredPose ( )
private

Definition at line 905 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::calcRefZMP ( )
private

Definition at line 782 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::calcStepIdxData ( )
private

Definition at line 681 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::eraseLastStepData ( )

Definition at line 654 of file thormang3_online_walking.cpp.

int THORMANG3OnlineWalking::getNumofRemainingUnreservedStepData ( )

Definition at line 639 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::getReferenceStepDatafotAddition ( robotis_framework::StepData *  ref_step_data_for_addition)

Definition at line 664 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::initBalanceOffset ( )
private

Definition at line 1745 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::initialize ( )

Definition at line 297 of file thormang3_online_walking.cpp.

bool THORMANG3OnlineWalking::isRunning ( )

Definition at line 623 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::parseBalanceOffsetData ( const std::string &  path)
private

Definition at line 1719 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::process ( )

Definition at line 961 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::reInitialize ( )

Definition at line 504 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::setBalanceOffset ( )
private

Definition at line 1783 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::setCurrentIMUSensorOutput ( double  gyro_x,
double  gyro_y,
double  quat_x,
double  quat_y,
double  quat_z,
double  quat_w 
)

Definition at line 280 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::setInitalWaistYawAngle ( double  waist_yaw_angle_rad)

Definition at line 255 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::setInitialLeftElbowAngle ( double  elbow_angle_rad)

Definition at line 275 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::setInitialLeftShoulderAngle ( double  shoulder_angle_rad)

Definition at line 265 of file thormang3_online_walking.cpp.

bool THORMANG3OnlineWalking::setInitialPose ( double  r_foot_x,
double  r_foot_y,
double  r_foot_z,
double  r_foot_roll,
double  r_foot_pitch,
double  r_foot_yaw,
double  l_foot_x,
double  l_foot_y,
double  l_foot_z,
double  l_foot_roll,
double  l_foot_pitch,
double  l_foot_yaw,
double  center_of_body_x,
double  center_of_body_y,
double  center_of_body_z,
double  center_of_body_roll,
double  center_of_body_pitch,
double  center_of_body_yaw 
)

Definition at line 218 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::setInitialRightElbowAngle ( double  elbow_angle_rad)

Definition at line 270 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::setInitialRightShoulderAngle ( double  shoulder_angle_rad)

Definition at line 260 of file thormang3_online_walking.cpp.

void thormang3::THORMANG3OnlineWalking::setRefZMPDecisionParameter ( double  X_ZMP_CenterShift,
double  Y_ZMP_CenterShift,
double  Y_ZMP_Convergence 
)
void THORMANG3OnlineWalking::start ( )

Definition at line 612 of file thormang3_online_walking.cpp.

void THORMANG3OnlineWalking::stop ( )

Definition at line 618 of file thormang3_online_walking.cpp.

double THORMANG3OnlineWalking::wsigmoid ( double  time,
double  period,
double  time_shift,
double  mag,
double  mag_shift,
double  sigmoid_ratio,
double  distortion_ratio 
)
private

Definition at line 1672 of file thormang3_online_walking.cpp.

double THORMANG3OnlineWalking::wsin ( double  time,
double  period,
double  period_shift,
double  mag,
double  mag_shift 
)
private

Definition at line 1667 of file thormang3_online_walking.cpp.

Member Data Documentation

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::A_
private

Definition at line 191 of file thormang3_online_walking.h.

std::vector<robotis_framework::StepData> thormang3::THORMANG3OnlineWalking::added_step_data_
private

Definition at line 154 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::b_
private

Definition at line 191 of file thormang3_online_walking.h.

thormang3::BalanceControlUsingPDController thormang3::THORMANG3OnlineWalking::balance_ctrl_

Definition at line 103 of file thormang3_online_walking.h.

int thormang3::THORMANG3OnlineWalking::balance_error_

Definition at line 102 of file thormang3_online_walking.h.

int thormang3::THORMANG3OnlineWalking::balancing_index_
private

Definition at line 211 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::body_pitch_tra_
private

Definition at line 166 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::body_roll_tra_
private

Definition at line 166 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::body_yaw_tra_
private

Definition at line 166 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::body_z_swap_tra_
private

Definition at line 168 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::body_z_tra_
private

Definition at line 166 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::c_
private

Definition at line 191 of file thormang3_online_walking.h.

bool thormang3::THORMANG3OnlineWalking::ctrl_running
private

Definition at line 207 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::curr_angle_rad_[12]

Definition at line 98 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_gyro_pitch_rad_per_sec_

Definition at line 115 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_gyro_roll_rad_per_sec_

Definition at line 115 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_imu_pitch_rad_

Definition at line 114 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_imu_roll_rad_

Definition at line 114 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_left_fx_N_

Definition at line 109 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_left_fy_N_

Definition at line 109 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_left_fz_N_

Definition at line 109 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_left_tx_Nm_

Definition at line 110 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_left_ty_Nm_

Definition at line 110 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_left_tz_Nm_

Definition at line 110 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_right_fx_N_

Definition at line 107 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_right_fy_N_

Definition at line 107 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_right_fz_N_

Definition at line 107 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_right_tx_Nm_

Definition at line 108 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_right_ty_Nm_

Definition at line 108 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::current_right_tz_Nm_

Definition at line 108 of file thormang3_online_walking.h.

int thormang3::THORMANG3OnlineWalking::current_start_idx_for_ref_zmp_
private

Definition at line 202 of file thormang3_online_walking.h.

robotis_framework::StepData thormang3::THORMANG3OnlineWalking::current_step_data_
private

Definition at line 157 of file thormang3_online_walking.h.

int thormang3::THORMANG3OnlineWalking::current_step_data_status_
private

Definition at line 212 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::des_balance_offset_
private

Definition at line 127 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::elbow_swing_gain_
private

Definition at line 177 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::f_
private

Definition at line 193 of file thormang3_online_walking.h.

robotis_framework::MinimumJerkViaPoint* thormang3::THORMANG3OnlineWalking::feed_forward_tra_
private

Definition at line 128 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::foot_pitch_tra_
private

Definition at line 164 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::foot_roll_tra_
private

Definition at line 164 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::foot_x_tra_
private

Definition at line 163 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::foot_y_tra_
private

Definition at line 163 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::foot_yaw_tra_
private

Definition at line 164 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::foot_z_swap_tra_
private

Definition at line 165 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::foot_z_tra_
private

Definition at line 163 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::goal_waist_yaw_angle_rad_
private

Definition at line 156 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::hip_roll_feedforward_angle_rad_

Definition at line 96 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::hip_roll_swap_tra_
private

Definition at line 169 of file thormang3_online_walking.h.

boost::mutex thormang3::THORMANG3OnlineWalking::imu_data_mutex_lock_
private

Definition at line 184 of file thormang3_online_walking.h.

bool thormang3::THORMANG3OnlineWalking::init_balance_offset_
private

Definition at line 131 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::initial_body_pose_
private

Definition at line 159 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::initial_left_foot_pose_
private

Definition at line 159 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::initial_right_foot_pose_
private

Definition at line 159 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::k_s_
private

Definition at line 194 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::k_x_
private

Definition at line 192 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_elbow_dir_
private

Definition at line 176 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_elbow_out_angle_rad_

Definition at line 91 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_init_elbow_angle_rad_
private

Definition at line 174 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_init_shoulder_angle_rad_
private

Definition at line 174 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_leg_out_angle_rad_[6]

Definition at line 93 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_leg_to_body_pitch_gain_
private

Definition at line 126 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_leg_to_body_roll_gain_
private

Definition at line 125 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_shoulder_dir_
private

Definition at line 176 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::l_shoulder_out_angle_rad_

Definition at line 89 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::left_dsp_fz_N_
private

Definition at line 146 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::left_fz_trajectory_end_time_
private

Definition at line 140 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::left_fz_trajectory_shift_
private

Definition at line 142 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::left_fz_trajectory_start_time_
private

Definition at line 139 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::left_fz_trajectory_target_
private

Definition at line 141 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::left_ssp_fz_N_
private

Definition at line 146 of file thormang3_online_walking.h.

thormang3::BalancePDController thormang3::THORMANG3OnlineWalking::leg_angle_feed_back_[12]

Definition at line 99 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::lhip_to_lfoot_pose_
private

Definition at line 162 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_cob_to_g_

Definition at line 80 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_cob_to_lhip_

Definition at line 84 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_cob_to_rhip_

Definition at line 83 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_cob_to_robot_

Definition at line 81 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_cob_to_robot_modified_
private

Definition at line 148 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_current_imu_

Definition at line 113 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_g_to_cob_

Definition at line 80 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_g_to_lfoot_

Definition at line 86 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_g_to_rfoot_

Definition at line 86 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_g_to_robot_

Definition at line 82 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_lfoot_to_lft_
private

Definition at line 179 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_lhip_to_cob_

Definition at line 84 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_rfoot_to_rft_
private

Definition at line 179 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_rhip_to_cob_

Definition at line 83 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_robot_to_cob_

Definition at line 81 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_robot_to_cob_modified_
private

Definition at line 148 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_robot_to_g_

Definition at line 82 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_robot_to_lf_modified_
private

Definition at line 150 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_robot_to_lfoot_
private

Definition at line 152 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_robot_to_rf_modified_
private

Definition at line 149 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::mat_robot_to_rfoot_
private

Definition at line 151 of file thormang3_online_walking.h.

int thormang3::THORMANG3OnlineWalking::mov_size_
private

Definition at line 129 of file thormang3_online_walking.h.

int thormang3::THORMANG3OnlineWalking::mov_step_
private

Definition at line 129 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::mov_time_
private

Definition at line 130 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::out_angle_rad_[16]

Definition at line 94 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::present_body_pose_
private

Definition at line 160 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::present_left_foot_pose_
private

Definition at line 160 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::present_right_foot_pose_
private

Definition at line 160 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::present_waist_yaw_angle_rad_
private

Definition at line 171 of file thormang3_online_walking.h.

int thormang3::THORMANG3OnlineWalking::preview_size_
private

Definition at line 188 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::preview_time_
private

Definition at line 187 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::previous_step_body_pose_
private

Definition at line 161 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::previous_step_left_foot_pose_
private

Definition at line 161 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::previous_step_right_foot_pose_
private

Definition at line 161 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::previous_step_waist_yaw_angle_rad_
private

Definition at line 172 of file thormang3_online_walking.h.

Eigen::Quaterniond thormang3::THORMANG3OnlineWalking::quat_current_imu_

Definition at line 112 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_elbow_dir_
private

Definition at line 175 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_elbow_out_angle_rad_

Definition at line 90 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_init_elbow_angle_rad_
private

Definition at line 173 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_init_shoulder_angle_rad_
private

Definition at line 173 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_leg_out_angle_rad_[6]

Definition at line 92 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_leg_to_body_pitch_gain_
private

Definition at line 126 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_leg_to_body_roll_gain_
private

Definition at line 125 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_shoulder_dir_
private

Definition at line 175 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::r_shoulder_out_angle_rad_

Definition at line 88 of file thormang3_online_walking.h.

bool thormang3::THORMANG3OnlineWalking::real_running
private

Definition at line 207 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::ref_zmp_x_at_this_time_
private

Definition at line 204 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::ref_zmp_y_at_this_time_
private

Definition at line 204 of file thormang3_online_walking.h.

robotis_framework::StepData thormang3::THORMANG3OnlineWalking::reference_step_data_for_addition_
private

Definition at line 158 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::reference_time_
private

Definition at line 210 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::reference_zmp_x_
private

Definition at line 205 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::reference_zmp_y_
private

Definition at line 205 of file thormang3_online_walking.h.

robotis_framework::Pose3D thormang3::THORMANG3OnlineWalking::rhip_to_rfoot_pose_
private

Definition at line 162 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::right_dsp_fz_N_
private

Definition at line 145 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::right_ssp_fz_N_
private

Definition at line 145 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::rot_x_pi_3d_
private

Definition at line 180 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::rot_z_pi_3d_
private

Definition at line 180 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::shouler_swing_gain_
private

Definition at line 177 of file thormang3_online_walking.h.

boost::mutex thormang3::THORMANG3OnlineWalking::step_data_mutex_lock_
private

Definition at line 183 of file thormang3_online_walking.h.

Eigen::VectorXi thormang3::THORMANG3OnlineWalking::step_idx_data_
private

Definition at line 182 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::sum_of_cx_
private

Definition at line 197 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::sum_of_cy_
private

Definition at line 198 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::sum_of_zmp_x_
private

Definition at line 195 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::sum_of_zmp_y_
private

Definition at line 196 of file thormang3_online_walking.h.

KinematicsDynamics* thormang3::THORMANG3OnlineWalking::thormang3_kd_
private

Definition at line 137 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::total_mass_of_robot_
private

Definition at line 144 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::u_x
private

Definition at line 199 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::u_y
private

Definition at line 199 of file thormang3_online_walking.h.

robotis_framework::FifthOrderPolynomialTrajectory thormang3::THORMANG3OnlineWalking::waist_yaw_tra_
private

Definition at line 167 of file thormang3_online_walking.h.

double thormang3::THORMANG3OnlineWalking::walking_time_
private

Definition at line 209 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::x_lipm_
private

Definition at line 200 of file thormang3_online_walking.h.

Eigen::MatrixXd thormang3::THORMANG3OnlineWalking::y_lipm_
private

Definition at line 200 of file thormang3_online_walking.h.

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

thormang3_walking_module
Author(s): Zerom , SCH , Kayman , Jay Song
autogenerated on Mon Jun 10 2019 15:37:56