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 step_cost, 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...

double	getStepCost () const

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	ivAngleBinSize

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...

double	ivStepCost

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 44 of file footstep.h.

Member Typedef Documentation

typedef std::pair<int, int> vigir_footstep_planning::Footstep::footstep_xy

private

Typedef representing the (discretized) translation of the footstep.

Definition at line 88 of file footstep.h.

Constructor & Destructor Documentation

vigir_footstep_planning::Footstep::Footstep	(	double	x,
		double	y,
		double	theta,
		double	step_cost,
		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 32 of file footstep.cpp.

vigir_footstep_planning::Footstep::~Footstep ( )

Definition at line 47 of file footstep.cpp.

Member Function Documentation

int vigir_footstep_planning::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 158 of file footstep.cpp.

double vigir_footstep_planning::Footstep::getStepCost ( ) const

inline

Definition at line 84 of file footstep.h.

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

private

Initialization method called within the constructor.

Definition at line 50 of file footstep.cpp.

PlanningState vigir_footstep_planning::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 68 of file footstep.cpp.

PlanningState vigir_footstep_planning::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 113 of file footstep.cpp.

Member Data Documentation

double vigir_footstep_planning::Footstep::ivAngleBinSize

private

Definition at line 116 of file footstep.h.

double vigir_footstep_planning::Footstep::ivCellSize

private

The parameter for the discretization of the translation.

Definition at line 113 of file footstep.h.

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

private

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

Definition at line 131 of file footstep.h.

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

private

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

Definition at line 133 of file footstep.h.

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

private

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

Definition at line 127 of file footstep.h.

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

private

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

Definition at line 129 of file footstep.h.

int vigir_footstep_planning::Footstep::ivMaxHashSize

private

The maximal hash size.

Definition at line 124 of file footstep.h.

int vigir_footstep_planning::Footstep::ivNumAngleBins

private

The parameter for the discretization of the rotation.

Definition at line 115 of file footstep.h.

double vigir_footstep_planning::Footstep::ivStepCost

private

Definition at line 121 of file footstep.h.

int vigir_footstep_planning::Footstep::ivTheta

private

The (discretized) rotation of the footstep.

Definition at line 119 of file footstep.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation