Public Member Functions | Private Member Functions | Private Attributes
rats::leg_coords_generator Class Reference

#include <GaitGenerator.h>

List of all members.

Public Member Functions

void calc_swing_leg_src_steps (std::vector< step_node > &ret_swing_leg_src_steps, const std::vector< std::vector< step_node > > &fnsl, const size_t _footstep_index)
void calc_swing_support_params_from_footstep_nodes_list (const std::vector< std::vector< step_node > > &fnsl)
void clear_interpolators ()
std::vector< leg_typeget_current_support_states () const
double get_current_swing_time (const size_t idx) const
double get_current_toe_heel_ratio (const bool _use_toe_heel_transition) const
hrp::Vector3 get_cycloid_delay_kick_point_offset () const
orbit_type get_default_orbit_type () const
double get_default_step_height () const
double get_foot_dif_rot_angle () const
size_t get_footstep_index () const
double get_heel_angle () const
double get_heel_pos_offset_x () const
size_t get_lcg_count () const
hrp::Vector3 get_stair_trajectory_way_point_offset () const
const std::vector< step_node > & get_support_leg_steps () const
const std::vector< step_node > & get_support_leg_steps_idx (const size_t idx) const
const std::vector< leg_type > & get_support_leg_types () const
const std::vector< step_node > & get_swing_leg_dst_steps () const
const std::vector< step_node > & get_swing_leg_dst_steps_idx (const size_t idx) const
const std::vector< step_node > & get_swing_leg_src_steps () const
const std::vector< step_node > & get_swing_leg_steps () const
const std::vector< leg_type > & get_swing_leg_types () const
void get_swing_support_mid_coords (coordinates &ret) const
double get_swing_trajectory_delay_time_offset () const
double get_swing_trajectory_final_distance_weight () const
double get_swing_trajectory_time_offset_xy2z () const
double get_toe_angle () const
void get_toe_heel_phase_ratio (std::vector< double > &ratio) const
double get_toe_pos_offset_x () const
bool get_use_toe_heel_auto_set () const
bool get_use_toe_joint () const
bool is_same_footstep_nodes (const std::vector< step_node > &fns_1, const std::vector< step_node > &fns_2) const
 leg_coords_generator (const double _dt)
void reset (const size_t _one_step_count, const size_t _next_one_step_count, const std::vector< step_node > &_swing_leg_dst_steps, const std::vector< step_node > &_swing_leg_src_steps, const std::vector< step_node > &_support_leg_steps, const double default_double_support_ratio_before, const double default_double_support_ratio_after)
void set_cycloid_delay_kick_point_offset (const hrp::Vector3 _offset)
void set_default_orbit_type (const orbit_type _tmp)
void set_default_step_height (const double _tmp)
void set_default_top_ratio (const double _tmp)
void set_heel_angle (const double _angle)
void set_heel_pos_offset_x (const double _offx)
void set_stair_trajectory_way_point_offset (const hrp::Vector3 _offset)
void set_swing_support_steps_list (const std::vector< std::vector< step_node > > &fnsl)
void set_swing_trajectory_delay_time_offset (const double _time_offset)
void set_swing_trajectory_final_distance_weight (const double _final_distance_weight)
void set_swing_trajectory_time_offset_xy2z (const double _tmp)
void set_toe_angle (const double _angle)
bool set_toe_heel_phase_ratio (const std::vector< double > &ratio)
void set_toe_pos_offset_x (const double _offx)
void set_use_toe_heel_auto_set (const bool ut)
void set_use_toe_joint (const bool ut)
void update_leg_steps (const std::vector< std::vector< step_node > > &fnsl, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const toe_heel_type_checker &thtc)
 ~leg_coords_generator ()

Private Member Functions

void calc_current_swing_foot_rot (std::map< leg_type, hrp::Vector3 > &tmp_swing_foot_rot, const double _default_double_support_ratio_before, const double _default_double_support_ratio_after)
void calc_current_swing_leg_steps (std::vector< step_node > &rets, const double step_height, const double _current_toe_angle, const double _current_heel_angle, const double _default_double_support_ratio_before, const double _default_double_support_ratio_after)
double calc_interpolated_toe_heel_angle (const toe_heel_phase start_phase, const toe_heel_phase goal_phase, const double start, const double goal)
void calc_ratio_from_double_support_ratio (const double default_double_support_ratio_before, const double default_double_support_ratio_after)
void calc_swing_support_mid_coords ()
void cross_delay_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, leg_type lr)
void cycloid_delay_kick_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height)
void cycloid_delay_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, const size_t swing_trajectory_generator_idx)
void cycloid_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height) const
void modif_foot_coords_for_toe_heel_phase (coordinates &org_coords, const double _current_toe_angle, const double _current_heel_angle)
void rectangle_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height, const size_t swing_trajectory_generator_idx)
void stair_midcoords (coordinates &ret, const coordinates &start, const coordinates &goal, const double height)

Private Attributes

cycloid_delay_kick_hoffarbib_trajectory_generator cdktg
std::vector
< cycloid_delay_hoffarbib_trajectory_generator
cdtg
cross_delay_hoffarbib_trajectory_generator crdtg
toe_heel_type current_dst_toe_heel_type
double current_heel_angle
toe_heel_type current_src_toe_heel_type
double current_step_height
std::vector< double > current_swing_time
double current_toe_angle
orbit_type default_orbit_type
double default_step_height
double default_top_ratio
double dt
double final_distance_weight
double foot_dif_rot_angle
interpolatorfoot_midcoords_interpolator
size_t footstep_index
double heel_angle
double heel_pos_offset_x
bool is_swing_phase
size_t lcg_count
size_t next_one_step_count
size_t one_step_count
std::vector
< rectangle_delay_hoffarbib_trajectory_generator
rdtg
stair_delay_hoffarbib_trajectory_generator sdtg
std::vector< step_nodesupport_leg_steps
std::vector< std::vector
< step_node > > 
support_leg_steps_list
std::vector< leg_typesupport_leg_types
std::map< leg_type,
interpolator * > 
swing_foot_rot_interpolator
std::vector< step_nodeswing_leg_dst_steps
std::vector< std::vector
< step_node > > 
swing_leg_dst_steps_list
std::vector< step_nodeswing_leg_src_steps
std::vector< step_nodeswing_leg_steps
std::vector< leg_typeswing_leg_types
double swing_ratio
coordinates swing_support_midcoords
toe_heel_phase_counter thp
double time_offset
double time_offset_xy2z
double toe_angle
double toe_heel_dif_angle
interpolatortoe_heel_interpolator
double toe_pos_offset_x
bool use_toe_heel_auto_set
bool use_toe_joint

Detailed Description

Definition at line 686 of file GaitGenerator.h.


Constructor & Destructor Documentation

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Member Function Documentation

void rats::leg_coords_generator::calc_current_swing_foot_rot ( std::map< leg_type, hrp::Vector3 > &  tmp_swing_foot_rot,
const double  _default_double_support_ratio_before,
const double  _default_double_support_ratio_after 
) [private]

Definition at line 224 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_current_swing_leg_steps ( std::vector< step_node > &  rets,
const double  step_height,
const double  _current_toe_angle,
const double  _current_heel_angle,
const double  _default_double_support_ratio_before,
const double  _default_double_support_ratio_after 
) [private]

Definition at line 269 of file GaitGenerator.cpp.

double rats::leg_coords_generator::calc_interpolated_toe_heel_angle ( const toe_heel_phase  start_phase,
const toe_heel_phase  goal_phase,
const double  start,
const double  goal 
) [private]

Definition at line 354 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_ratio_from_double_support_ratio ( const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after 
) [private]

Definition at line 317 of file GaitGenerator.cpp.

void rats::leg_coords_generator::calc_swing_leg_src_steps ( std::vector< step_node > &  ret_swing_leg_src_steps,
const std::vector< std::vector< step_node > > &  fnsl,
const size_t  _footstep_index 
) [inline]

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void rats::leg_coords_generator::cross_delay_midcoords ( coordinates ret,
const coordinates start,
const coordinates goal,
const double  height,
leg_type  lr 
) [private]

Definition at line 457 of file GaitGenerator.cpp.

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void rats::leg_coords_generator::cycloid_delay_midcoords ( coordinates ret,
const coordinates start,
const coordinates goal,
const double  height,
const size_t  swing_trajectory_generator_idx 
) [private]

Definition at line 444 of file GaitGenerator.cpp.

void rats::leg_coords_generator::cycloid_midcoords ( coordinates ret,
const coordinates start,
const coordinates goal,
const double  height 
) const [private]

Definition at line 426 of file GaitGenerator.cpp.

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double rats::leg_coords_generator::get_current_swing_time ( const size_t  idx) const [inline]

Definition at line 962 of file GaitGenerator.h.

double rats::leg_coords_generator::get_current_toe_heel_ratio ( const bool  _use_toe_heel_transition) const [inline]

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double rats::leg_coords_generator::get_heel_angle ( ) const [inline]

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size_t rats::leg_coords_generator::get_lcg_count ( ) const [inline]

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const std::vector<step_node>& rats::leg_coords_generator::get_support_leg_steps_idx ( const size_t  idx) const [inline]

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const std::vector<step_node>& rats::leg_coords_generator::get_swing_leg_dst_steps_idx ( const size_t  idx) const [inline]

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double rats::leg_coords_generator::get_toe_angle ( ) const [inline]

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void rats::leg_coords_generator::get_toe_heel_phase_ratio ( std::vector< double > &  ratio) const [inline]

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bool rats::leg_coords_generator::is_same_footstep_nodes ( const std::vector< step_node > &  fns_1,
const std::vector< step_node > &  fns_2 
) const

Definition at line 464 of file GaitGenerator.cpp.

void rats::leg_coords_generator::modif_foot_coords_for_toe_heel_phase ( coordinates org_coords,
const double  _current_toe_angle,
const double  _current_heel_angle 
) [private]

Definition at line 373 of file GaitGenerator.cpp.

void rats::leg_coords_generator::rectangle_midcoords ( coordinates ret,
const coordinates start,
const coordinates goal,
const double  height,
const size_t  swing_trajectory_generator_idx 
) [private]

Definition at line 432 of file GaitGenerator.cpp.

void rats::leg_coords_generator::reset ( const size_t  _one_step_count,
const size_t  _next_one_step_count,
const std::vector< step_node > &  _swing_leg_dst_steps,
const std::vector< step_node > &  _swing_leg_src_steps,
const std::vector< step_node > &  _support_leg_steps,
const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after 
) [inline]

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void rats::leg_coords_generator::set_swing_support_steps_list ( const std::vector< std::vector< step_node > > &  fnsl) [inline]

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bool rats::leg_coords_generator::set_toe_heel_phase_ratio ( const std::vector< double > &  ratio) [inline]

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void rats::leg_coords_generator::stair_midcoords ( coordinates ret,
const coordinates start,
const coordinates goal,
const double  height 
) [private]

Definition at line 438 of file GaitGenerator.cpp.

void rats::leg_coords_generator::update_leg_steps ( const std::vector< std::vector< step_node > > &  fnsl,
const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after,
const toe_heel_type_checker thtc 
)

Definition at line 541 of file GaitGenerator.cpp.


Member Data Documentation

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std::vector<double> rats::leg_coords_generator::current_swing_time [private]

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std::vector< std::vector<step_node> > rats::leg_coords_generator::support_leg_steps_list [private]

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std::vector< std::vector<step_node> > rats::leg_coords_generator::swing_leg_dst_steps_list [private]

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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:21