Public Member Functions | Private Types | Private Member Functions | Private Attributes
rats::gait_generator Class Reference

#include <GaitGenerator.h>

List of all members.

Public Member Functions

void append_finalize_footstep ()
void append_finalize_footstep (std::vector< std::vector< step_node > > &_footstep_nodes_list) const
void append_footstep_nodes (const std::vector< std::string > &_legs, const std::vector< coordinates > &_fss)
void append_footstep_nodes (const std::vector< std::string > &_legs, const std::vector< coordinates > &_fss, const double _step_height, const double _step_time, const double _toe_angle, const double _heel_angle)
const std::vector< leg_typecalc_counter_leg_types_from_footstep_nodes (const std::vector< step_node > &fns, std::vector< std::string > _all_limbs) const
void clear_footstep_nodes_list ()
std::vector< std::string > convert_leg_types_to_names (const std::vector< leg_type > &lts) const
void emergency_stop ()
void finalize_velocity_mode ()
 gait_generator (double _dt, const std::vector< hrp::Vector3 > &_leg_pos, std::vector< std::string > _all_limbs, const double _stride_fwd_x, const double _stride_outside_y, const double _stride_outside_theta, const double _stride_bwd_x, const double _stride_inside_y, const double _stride_inside_theta)
hrp::Vector3 get_cart_zmp () const
const hrp::Vector3get_cog () const
hrp::Vector3 get_cog_acc () const
hrp::Vector3 get_cog_vel () const
double get_cp_check_margin (const size_t idx) const
bool get_current_support_state_from_ee_name (const std::string &ee_name) const
std::vector< leg_typeget_current_support_states () const
double get_current_swing_time (const size_t idx) const
double get_current_swing_time_from_ee_name (const std::string ee_name) const
double get_current_toe_heel_ratio () const
bool get_current_toe_heel_ratio_from_ee_name (double &ret, const std::string &ee_name) const
hrp::Vector3 get_cycloid_delay_kick_point_offset () const
double get_default_double_support_ratio_after () const
double get_default_double_support_ratio_before () const
double get_default_double_support_ratio_swing_after () const
double get_default_double_support_ratio_swing_before () const
double get_default_double_support_static_ratio_after () const
double get_default_double_support_static_ratio_before () const
orbit_type get_default_orbit_type () const
double get_default_step_height () const
double get_default_step_time () const
const coordinates get_dst_foot_midcoords () const
double get_foot_dif_rot_angle () const
std::vector< std::string > get_footstep_back_leg_names () const
std::vector< std::string > get_footstep_front_leg_names () const
size_t get_footstep_index () const
double get_footstep_modification_gain () const
bool get_footstep_nodes_by_index (std::vector< step_node > &csl, const size_t idx) const
double get_gravitational_acceleration () const
double get_heel_angle () const
double get_heel_check_thre () const
double get_heel_pos_offset_x () const
double get_heel_zmp_offset_x () const
size_t get_lcg_count () const
void get_leg_default_translate_pos (std::vector< hrp::Vector3 > &off) const
double get_leg_margin (const size_t idx) const
const std::map< leg_type,
std::string > 
get_leg_type_map () const
double get_margin_time_ratio () const
bool get_modify_footsteps () const
int get_NUM_TH_PHASES () const
size_t get_optional_go_pos_finalize_footstep_num () const
size_t get_overwritable_footstep_index_offset () const
size_t get_overwritable_index () const
double get_overwritable_stride_limitation (const size_t idx) const
size_t get_overwrite_check_timing () const
const hrp::Vector3get_refzmp () const
std::vector< std::vector
< step_node > > 
get_remaining_footstep_nodes_list () const
hrp::Vector3 get_stair_trajectory_way_point_offset () const
double get_stride_limitation_for_circle_type (const size_t idx) const
stride_limitation_type get_stride_limitation_type () const
void get_stride_parameters (double &_stride_fwd_x, double &_stride_outside_y, double &_stride_outside_theta, double &_stride_bwd_x, double &_stride_inside_y, double &_stride_inside_theta) const
std::vector< hrp::Vector3get_support_foot_zmp_offsets () const
const std::vector< std::string > get_support_leg_names () const
const std::vector< step_node > & get_support_leg_steps () const
const std::vector< hrp::Vector3 > & get_swing_foot_zmp_offsets () const
const std::vector< step_node > & get_swing_leg_dst_steps () const
const std::vector< std::string > get_swing_leg_names () const
const std::vector< step_node > & get_swing_leg_src_steps () const
const std::vector< step_node > & get_swing_leg_steps () const
bool get_swing_support_ee_coords_from_ee_name (hrp::Vector3 &cpos, hrp::Matrix33 &crot, const std::string &ee_name) const
bool get_swing_support_foot_zmp_offsets_from_ee_name (hrp::Vector3 &ret, const std::string &ee_name) 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
double get_toe_check_thre () const
void get_toe_heel_phase_ratio (std::vector< double > &ratio) const
double get_toe_pos_offset_x () const
double get_toe_zmp_offset_x () const
bool get_use_stride_limitation () const
bool get_use_toe_heel_auto_set () const
bool get_use_toe_heel_transition () const
bool get_use_toe_joint () const
const std::map< leg_type, double > get_zmp_weight_map () const
bool go_pos_param_2_footstep_nodes_list (const double goal_x, const double goal_y, const double goal_theta, const std::vector< coordinates > &initial_support_legs_coords, coordinates start_ref_coords, const std::vector< leg_type > &initial_support_legs, const bool is_initialize=true)
bool go_pos_param_2_footstep_nodes_list (const double goal_x, const double goal_y, const double goal_theta, const std::vector< coordinates > &initial_support_legs_coords, coordinates start_ref_coords, const std::vector< leg_type > &initial_support_legs, std::vector< std::vector< step_node > > &new_footstep_nodes_list, const bool is_initialize=true)
void go_pos_param_2_footstep_nodes_list_core (const double goal_x, const double goal_y, const double goal_theta, const std::vector< coordinates > &initial_support_legs_coords, coordinates start_ref_coords, const std::vector< leg_type > &initial_support_legs, std::vector< std::vector< step_node > > &new_footstep_nodes_list, const bool is_initialize, const size_t overwritable_fs_index) const
void go_single_step_param_2_footstep_nodes_list (const double goal_x, const double goal_y, const double goal_z, const double goal_theta, const std::string &tmp_swing_leg, const coordinates &_support_leg_coords)
void initialize_gait_parameter (const hrp::Vector3 &cog, const std::vector< step_node > &initial_support_leg_steps, const std::vector< step_node > &initial_swing_leg_dst_steps, const double delay=1.6)
void initialize_velocity_mode (const coordinates &_ref_coords, const double vel_x, const double vel_y, const double vel_theta, const std::vector< leg_type > &current_legs)
bool is_finalizing (const double tm) const
void limit_stride (step_node &cur_fs, const step_node &prev_fs, const double(&limit)[5]) const
void modify_footsteps_for_recovery ()
void print_footstep_nodes_list (const std::vector< std::vector< step_node > > _footstep_nodes_list) const
void print_footstep_nodes_list () const
void print_param (const std::string &print_str="") const
bool proc_one_tick ()
void proc_zmp_weight_map_interpolation ()
void set_act_contact_states (const std::vector< bool > &_act_contact_states)
void set_all_limbs (const std::vector< std::string > &_all_limbs)
void set_cp_check_margin (const double(&_cp_check_margin)[2])
void set_cycloid_delay_kick_point_offset (const hrp::Vector3 _offset)
void set_default_double_support_ratio_after (const double _default_double_support_ratio_after)
void set_default_double_support_ratio_before (const double _default_double_support_ratio_before)
void set_default_double_support_ratio_swing_after (const double _default_double_support_ratio_swing_after)
void set_default_double_support_ratio_swing_before (const double _default_double_support_ratio_swing_before)
void set_default_double_support_static_ratio_after (const double _default_double_support_static_ratio_after)
void set_default_double_support_static_ratio_before (const double _default_double_support_static_ratio_before)
void set_default_orbit_type (const orbit_type type)
void set_default_step_height (const double _tmp)
void set_default_step_time (const double _default_step_time)
void set_default_top_ratio (const double _tmp)
void set_default_zmp_offsets (const std::vector< hrp::Vector3 > &tmp)
void set_diff_cp (const hrp::Vector3 _cp)
void set_foot_steps_list (const std::vector< std::vector< step_node > > &fnsl)
void set_footstep_modification_gain (const double _footstep_modification_gain)
void set_gravitational_acceleration (const double ga)
void set_heel_angle (const double _angle)
void set_heel_check_thre (const double _a)
void set_heel_pos_offset_x (const double _offx)
void set_heel_zmp_offset_x (const double _off)
void set_leg_default_translate_pos (const std::vector< hrp::Vector3 > &off)
void set_leg_margin (const double _leg_margin[4])
void set_margin_time_ratio (const double _margin_time_ratio)
void set_modify_footsteps (const bool _modify_footsteps)
void set_offset_velocity_param (const double vel_x, const double vel_y, const double vel_theta)
void set_optional_go_pos_finalize_footstep_num (const size_t num)
void set_overwritable_footstep_index_offset (const size_t _of)
void set_overwritable_stride_limitation (const double(&_overwritable_stride_limitation)[5])
bool set_overwrite_foot_step_index (const size_t idx)
void set_overwrite_foot_steps_list (const std::vector< std::vector< step_node > > &fnsl)
void set_stair_trajectory_way_point_offset (const hrp::Vector3 _offset)
void set_stride_limitation_for_circle_type (const double(&_stride_limitation_for_circle_type)[5])
void set_stride_limitation_type (const stride_limitation_type _tmp)
void set_stride_parameters (const double _stride_fwd_x, const double _stride_outside_y, const double _stride_outside_theta, const double _stride_bwd_x, const double _stride_inside_y, const double _stride_inside_theta)
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)
void set_toe_check_thre (const double _a)
bool set_toe_heel_phase_ratio (const std::vector< double > &ratio)
void set_toe_pos_offset_x (const double _offx)
void set_toe_zmp_offset_x (const double _off)
void set_use_inside_step_limitation (const bool uu)
void set_use_stride_limitation (const bool _use_stride_limitation)
void set_use_toe_heel_auto_set (const bool _u)
void set_use_toe_heel_transition (const bool _u)
void set_use_toe_joint (const bool ut)
void set_velocity_param (const double vel_x, const double vel_y, const double vel_theta)
void set_zmp_weight_map (const std::map< leg_type, double > _map)
 ~gait_generator ()

Private Types

enum  emergency_flag { IDLING, EMERGENCY_STOP, STOPPING }
enum  velocity_mode_flag { VEL_IDLING, VEL_DOING, VEL_ENDING }

Private Member Functions

void append_footstep_list_velocity_mode ()
void append_footstep_list_velocity_mode (std::vector< std::vector< step_node > > &_footstep_nodes_list, const velocity_mode_parameter &cur_vel_param) const
void append_go_pos_step_nodes (const coordinates &_ref_coords, const std::vector< leg_type > &lts)
void append_go_pos_step_nodes (const coordinates &_ref_coords, const std::vector< leg_type > &lts, std::vector< std::vector< step_node > > &_footstep_nodes_list) const
void calc_next_coords_velocity_mode (std::vector< std::vector< step_node > > &ret_list, const size_t idx, const size_t future_step_num=3)
void calc_ref_coords_trans_vector_velocity_mode (coordinates &ref_coords, hrp::Vector3 &trans, double &dth, const std::vector< step_node > &sup_fns, const velocity_mode_parameter &cur_vel_param) const
 gait_generator (const gait_generator &_p)
leg_type get_leg_type_from_ee_name (const std::string &ee_name) const
gait_generatoroperator= (const gait_generator &_p)
void overwrite_refzmp_queue (const std::vector< std::vector< step_node > > &fnsl)

Private Attributes

std::vector< bool > act_contact_states
std::vector< std::string > all_limbs
hrp::Vector3 cog
double cp_check_margin [2]
double default_double_support_ratio_after
double default_double_support_ratio_before
double default_double_support_ratio_swing_after
double default_double_support_ratio_swing_before
double default_double_support_static_ratio_after
double default_double_support_static_ratio_before
double default_step_time
stride_limitation_type default_stride_limitation_type
hrp::Vector3 diff_cp
double dt
emergency_flag emergency_flg
size_t finalize_count
double footstep_modification_gain
std::vector< std::vector
< step_node > > 
footstep_nodes_list
footstep_parameter footstep_param
double gravitational_acceleration
coordinates initial_foot_mid_coords
bool is_emergency_walking [2]
leg_coords_generator lcg
double leg_margin [4]
std::map< leg_type, std::string > leg_type_map
double margin_time_ratio
hrp::Vector3 modified_d_footstep
bool modify_footsteps
velocity_mode_parameter offset_vel_param
size_t optional_go_pos_finalize_footstep_num
size_t overwritable_footstep_index_offset
double overwritable_stride_limitation [5]
size_t overwrite_footstep_index
std::vector< std::vector
< step_node > > 
overwrite_footstep_nodes_list
hrp::Vector3 prev_que_rzmp
std::vector< hrp::Vector3prev_que_sfzos
preview_dynamics_filter
< extended_preview_control > * 
preview_controller_ptr
hrp::Vector3 refzmp
refzmp_generator rg
bool solved
double stride_limitation_for_circle_type [5]
std::vector< hrp::Vector3swing_foot_zmp_offsets
toe_heel_type_checker thtc
bool use_inside_step_limitation
bool use_stride_limitation
velocity_mode_parameter vel_param
velocity_mode_flag velocity_mode_flg

Detailed Description

Definition at line 1014 of file GaitGenerator.h.


Member Enumeration Documentation

Enumerator:
IDLING 
EMERGENCY_STOP 
STOPPING 

Definition at line 1023 of file GaitGenerator.h.

Enumerator:
VEL_IDLING 
VEL_DOING 
VEL_ENDING 

Definition at line 1022 of file GaitGenerator.h.


Constructor & Destructor Documentation

rats::gait_generator::gait_generator ( double  _dt,
const std::vector< hrp::Vector3 > &  _leg_pos,
std::vector< std::string >  _all_limbs,
const double  _stride_fwd_x,
const double  _stride_outside_y,
const double  _stride_outside_theta,
const double  _stride_bwd_x,
const double  _stride_inside_y,
const double  _stride_inside_theta 
) [inline]

Definition at line 1103 of file GaitGenerator.h.

Definition at line 1125 of file GaitGenerator.h.


Member Function Documentation

Definition at line 1187 of file GaitGenerator.h.

void rats::gait_generator::append_finalize_footstep ( std::vector< std::vector< step_node > > &  _footstep_nodes_list) const [inline]

Definition at line 1191 of file GaitGenerator.h.

Definition at line 1035 of file GaitGenerator.cpp.

void rats::gait_generator::append_footstep_list_velocity_mode ( std::vector< std::vector< step_node > > &  _footstep_nodes_list,
const velocity_mode_parameter cur_vel_param 
) const [private]

Definition at line 1040 of file GaitGenerator.cpp.

void rats::gait_generator::append_footstep_nodes ( const std::vector< std::string > &  _legs,
const std::vector< coordinates > &  _fss 
) [inline]

Definition at line 1138 of file GaitGenerator.h.

void rats::gait_generator::append_footstep_nodes ( const std::vector< std::string > &  _legs,
const std::vector< coordinates > &  _fss,
const double  _step_height,
const double  _step_time,
const double  _toe_angle,
const double  _heel_angle 
) [inline]

Definition at line 1146 of file GaitGenerator.h.

void rats::gait_generator::append_go_pos_step_nodes ( const coordinates _ref_coords,
const std::vector< leg_type > &  lts 
) [inline, private]

Definition at line 1068 of file GaitGenerator.h.

void rats::gait_generator::append_go_pos_step_nodes ( const coordinates _ref_coords,
const std::vector< leg_type > &  lts,
std::vector< std::vector< step_node > > &  _footstep_nodes_list 
) const [inline, private]

Definition at line 1074 of file GaitGenerator.h.

const std::vector< leg_type > rats::gait_generator::calc_counter_leg_types_from_footstep_nodes ( const std::vector< step_node > &  fns,
std::vector< std::string >  _all_limbs 
) const

Definition at line 1148 of file GaitGenerator.cpp.

void rats::gait_generator::calc_next_coords_velocity_mode ( std::vector< std::vector< step_node > > &  ret_list,
const size_t  idx,
const size_t  future_step_num = 3 
) [private]

Definition at line 1053 of file GaitGenerator.cpp.

void rats::gait_generator::calc_ref_coords_trans_vector_velocity_mode ( coordinates ref_coords,
hrp::Vector3 trans,
double &  dth,
const std::vector< step_node > &  sup_fns,
const velocity_mode_parameter cur_vel_param 
) const [private]

Definition at line 987 of file GaitGenerator.cpp.

Definition at line 1154 of file GaitGenerator.h.

std::vector<std::string> rats::gait_generator::convert_leg_types_to_names ( const std::vector< leg_type > &  lts) const [inline]

Definition at line 1365 of file GaitGenerator.h.

Definition at line 1199 of file GaitGenerator.h.

Definition at line 982 of file GaitGenerator.cpp.

Definition at line 1359 of file GaitGenerator.h.

Definition at line 1347 of file GaitGenerator.h.

Definition at line 1353 of file GaitGenerator.h.

Definition at line 1348 of file GaitGenerator.h.

double rats::gait_generator::get_cp_check_margin ( const size_t  idx) const [inline]

Definition at line 1507 of file GaitGenerator.h.

bool rats::gait_generator::get_current_support_state_from_ee_name ( const std::string &  ee_name) const [inline]

Definition at line 1532 of file GaitGenerator.h.

Definition at line 1448 of file GaitGenerator.h.

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

Definition at line 1442 of file GaitGenerator.h.

double rats::gait_generator::get_current_swing_time_from_ee_name ( const std::string  ee_name) const [inline]

Definition at line 1444 of file GaitGenerator.h.

Definition at line 1482 of file GaitGenerator.h.

bool rats::gait_generator::get_current_toe_heel_ratio_from_ee_name ( double &  ret,
const std::string &  ee_name 
) const [inline]

Definition at line 1484 of file GaitGenerator.h.

Definition at line 1472 of file GaitGenerator.h.

Definition at line 1452 of file GaitGenerator.h.

Definition at line 1451 of file GaitGenerator.h.

Definition at line 1456 of file GaitGenerator.h.

Definition at line 1455 of file GaitGenerator.h.

Definition at line 1454 of file GaitGenerator.h.

Definition at line 1453 of file GaitGenerator.h.

Definition at line 1467 of file GaitGenerator.h.

Definition at line 1450 of file GaitGenerator.h.

Definition at line 1449 of file GaitGenerator.h.

Definition at line 1423 of file GaitGenerator.h.

Definition at line 1478 of file GaitGenerator.h.

std::vector<std::string> rats::gait_generator::get_footstep_back_leg_names ( ) const [inline]

Definition at line 1410 of file GaitGenerator.h.

std::vector<std::string> rats::gait_generator::get_footstep_front_leg_names ( ) const [inline]

Definition at line 1403 of file GaitGenerator.h.

size_t rats::gait_generator::get_footstep_index ( ) const [inline]

Definition at line 1440 of file GaitGenerator.h.

Definition at line 1506 of file GaitGenerator.h.

bool rats::gait_generator::get_footstep_nodes_by_index ( std::vector< step_node > &  csl,
const size_t  idx 
) const [inline]

Definition at line 1325 of file GaitGenerator.h.

Definition at line 1473 of file GaitGenerator.h.

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

Definition at line 1477 of file GaitGenerator.h.

double rats::gait_generator::get_heel_check_thre ( ) const [inline]

Definition at line 1513 of file GaitGenerator.h.

Definition at line 1475 of file GaitGenerator.h.

Definition at line 1398 of file GaitGenerator.h.

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

Definition at line 1441 of file GaitGenerator.h.

void rats::gait_generator::get_leg_default_translate_pos ( std::vector< hrp::Vector3 > &  off) const [inline]

Definition at line 1496 of file GaitGenerator.h.

double rats::gait_generator::get_leg_margin ( const size_t  idx) const [inline]

Definition at line 1503 of file GaitGenerator.h.

leg_type rats::gait_generator::get_leg_type_from_ee_name ( const std::string &  ee_name) const [inline, private]

Definition at line 1092 of file GaitGenerator.h.

const std::map<leg_type, std::string> rats::gait_generator::get_leg_type_map ( ) const [inline]

Definition at line 1499 of file GaitGenerator.h.

Definition at line 1509 of file GaitGenerator.h.

Definition at line 1508 of file GaitGenerator.h.

Definition at line 1480 of file GaitGenerator.h.

Definition at line 1500 of file GaitGenerator.h.

Definition at line 1497 of file GaitGenerator.h.

Definition at line 1312 of file GaitGenerator.h.

double rats::gait_generator::get_overwritable_stride_limitation ( const size_t  idx) const [inline]

Definition at line 1505 of file GaitGenerator.h.

Definition at line 1502 of file GaitGenerator.h.

Definition at line 1358 of file GaitGenerator.h.

std::vector< std::vector<step_node> > rats::gait_generator::get_remaining_footstep_nodes_list ( ) const [inline]

Definition at line 1457 of file GaitGenerator.h.

Definition at line 1471 of file GaitGenerator.h.

Definition at line 1504 of file GaitGenerator.h.

Definition at line 1511 of file GaitGenerator.h.

void rats::gait_generator::get_stride_parameters ( double &  _stride_fwd_x,
double &  _stride_outside_y,
double &  _stride_outside_theta,
double &  _stride_bwd_x,
double &  _stride_inside_y,
double &  _stride_inside_theta 
) const [inline]

Definition at line 1430 of file GaitGenerator.h.

Definition at line 1373 of file GaitGenerator.h.

const std::vector<std::string> rats::gait_generator::get_support_leg_names ( ) const [inline]

Definition at line 1417 of file GaitGenerator.h.

Definition at line 1420 of file GaitGenerator.h.

Definition at line 1372 of file GaitGenerator.h.

Definition at line 1422 of file GaitGenerator.h.

const std::vector<std::string> rats::gait_generator::get_swing_leg_names ( ) const [inline]

Definition at line 1418 of file GaitGenerator.h.

Definition at line 1421 of file GaitGenerator.h.

const std::vector<step_node>& rats::gait_generator::get_swing_leg_steps ( ) const [inline]

Definition at line 1419 of file GaitGenerator.h.

bool rats::gait_generator::get_swing_support_ee_coords_from_ee_name ( hrp::Vector3 cpos,
hrp::Matrix33 crot,
const std::string &  ee_name 
) const [inline]

Definition at line 1515 of file GaitGenerator.h.

bool rats::gait_generator::get_swing_support_foot_zmp_offsets_from_ee_name ( hrp::Vector3 ret,
const std::string &  ee_name 
) const [inline]

Definition at line 1381 of file GaitGenerator.h.

Definition at line 1429 of file GaitGenerator.h.

Definition at line 1468 of file GaitGenerator.h.

Definition at line 1469 of file GaitGenerator.h.

Definition at line 1470 of file GaitGenerator.h.

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

Definition at line 1476 of file GaitGenerator.h.

double rats::gait_generator::get_toe_check_thre ( ) const [inline]

Definition at line 1512 of file GaitGenerator.h.

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

Definition at line 1479 of file GaitGenerator.h.

double rats::gait_generator::get_toe_pos_offset_x ( ) const [inline]

Definition at line 1474 of file GaitGenerator.h.

double rats::gait_generator::get_toe_zmp_offset_x ( ) const [inline]

Definition at line 1397 of file GaitGenerator.h.

Definition at line 1510 of file GaitGenerator.h.

Definition at line 1400 of file GaitGenerator.h.

Definition at line 1399 of file GaitGenerator.h.

bool rats::gait_generator::get_use_toe_joint ( ) const [inline]

Definition at line 1481 of file GaitGenerator.h.

const std::map<leg_type, double> rats::gait_generator::get_zmp_weight_map ( ) const [inline]

Definition at line 1401 of file GaitGenerator.h.

bool rats::gait_generator::go_pos_param_2_footstep_nodes_list ( const double  goal_x,
const double  goal_y,
const double  goal_theta,
const std::vector< coordinates > &  initial_support_legs_coords,
coordinates  start_ref_coords,
const std::vector< leg_type > &  initial_support_legs,
const bool  is_initialize = true 
) [inline]

Definition at line 1159 of file GaitGenerator.h.

bool rats::gait_generator::go_pos_param_2_footstep_nodes_list ( const double  goal_x,
const double  goal_y,
const double  goal_theta,
const std::vector< coordinates > &  initial_support_legs_coords,
coordinates  start_ref_coords,
const std::vector< leg_type > &  initial_support_legs,
std::vector< std::vector< step_node > > &  new_footstep_nodes_list,
const bool  is_initialize = true 
)

Definition at line 843 of file GaitGenerator.cpp.

void rats::gait_generator::go_pos_param_2_footstep_nodes_list_core ( const double  goal_x,
const double  goal_y,
const double  goal_theta,
const std::vector< coordinates > &  initial_support_legs_coords,
coordinates  start_ref_coords,
const std::vector< leg_type > &  initial_support_legs,
std::vector< std::vector< step_node > > &  new_footstep_nodes_list,
const bool  is_initialize,
const size_t  overwritable_fs_index 
) const

Definition at line 875 of file GaitGenerator.cpp.

void rats::gait_generator::go_single_step_param_2_footstep_nodes_list ( const double  goal_x,
const double  goal_y,
const double  goal_z,
const double  goal_theta,
const std::string &  tmp_swing_leg,
const coordinates _support_leg_coords 
)

Definition at line 953 of file GaitGenerator.cpp.

void rats::gait_generator::initialize_gait_parameter ( const hrp::Vector3 cog,
const std::vector< step_node > &  initial_support_leg_steps,
const std::vector< step_node > &  initial_swing_leg_dst_steps,
const double  delay = 1.6 
)

Definition at line 599 of file GaitGenerator.cpp.

void rats::gait_generator::initialize_velocity_mode ( const coordinates _ref_coords,
const double  vel_x,
const double  vel_y,
const double  vel_theta,
const std::vector< leg_type > &  current_legs 
)

Definition at line 968 of file GaitGenerator.cpp.

bool rats::gait_generator::is_finalizing ( const double  tm) const [inline]

Definition at line 1501 of file GaitGenerator.h.

void rats::gait_generator::limit_stride ( step_node cur_fs,
const step_node prev_fs,
const double(&)  limit[5] 
) const

Definition at line 748 of file GaitGenerator.cpp.

Definition at line 781 of file GaitGenerator.cpp.

gait_generator& rats::gait_generator::operator= ( const gait_generator _p) [private]
void rats::gait_generator::overwrite_refzmp_queue ( const std::vector< std::vector< step_node > > &  fnsl) [private]

Definition at line 1084 of file GaitGenerator.cpp.

void rats::gait_generator::print_footstep_nodes_list ( const std::vector< std::vector< step_node > >  _footstep_nodes_list) const [inline]

Definition at line 1334 of file GaitGenerator.h.

Definition at line 1342 of file GaitGenerator.h.

void rats::gait_generator::print_param ( const std::string &  print_str = "") const [inline]

Definition at line 1547 of file GaitGenerator.h.

Definition at line 650 of file GaitGenerator.cpp.

Definition at line 1402 of file GaitGenerator.h.

void rats::gait_generator::set_act_contact_states ( const std::vector< bool > &  _act_contact_states) [inline]

Definition at line 1298 of file GaitGenerator.h.

void rats::gait_generator::set_all_limbs ( const std::vector< std::string > &  _all_limbs) [inline]

Definition at line 1261 of file GaitGenerator.h.

void rats::gait_generator::set_cp_check_margin ( const double(&)  _cp_check_margin[2]) [inline]

Definition at line 1293 of file GaitGenerator.h.

Definition at line 1246 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_ratio_after ( const double  _default_double_support_ratio_after) [inline]

Definition at line 1209 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_ratio_before ( const double  _default_double_support_ratio_before) [inline]

Definition at line 1208 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_ratio_swing_after ( const double  _default_double_support_ratio_swing_after) [inline]

Definition at line 1213 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_ratio_swing_before ( const double  _default_double_support_ratio_swing_before) [inline]

Definition at line 1212 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_static_ratio_after ( const double  _default_double_support_static_ratio_after) [inline]

Definition at line 1211 of file GaitGenerator.h.

void rats::gait_generator::set_default_double_support_static_ratio_before ( const double  _default_double_support_static_ratio_before) [inline]

Definition at line 1210 of file GaitGenerator.h.

Definition at line 1241 of file GaitGenerator.h.

Definition at line 1220 of file GaitGenerator.h.

void rats::gait_generator::set_default_step_time ( const double  _default_step_time) [inline]

Definition at line 1207 of file GaitGenerator.h.

Definition at line 1221 of file GaitGenerator.h.

Definition at line 1214 of file GaitGenerator.h.

Definition at line 1307 of file GaitGenerator.h.

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

Definition at line 1263 of file GaitGenerator.h.

void rats::gait_generator::set_footstep_modification_gain ( const double  _footstep_modification_gain) [inline]

Definition at line 1292 of file GaitGenerator.h.

Definition at line 1247 of file GaitGenerator.h.

void rats::gait_generator::set_heel_angle ( const double  _angle) [inline]

Definition at line 1251 of file GaitGenerator.h.

Definition at line 1310 of file GaitGenerator.h.

Definition at line 1249 of file GaitGenerator.h.

Definition at line 1216 of file GaitGenerator.h.

Definition at line 1259 of file GaitGenerator.h.

void rats::gait_generator::set_leg_margin ( const double  _leg_margin[4]) [inline]

Definition at line 1277 of file GaitGenerator.h.

void rats::gait_generator::set_margin_time_ratio ( const double  _margin_time_ratio) [inline]

Definition at line 1306 of file GaitGenerator.h.

void rats::gait_generator::set_modify_footsteps ( const bool  _modify_footsteps) [inline]

Definition at line 1305 of file GaitGenerator.h.

void rats::gait_generator::set_offset_velocity_param ( const double  vel_x,
const double  vel_y,
const double  vel_theta 
) [inline]

Definition at line 1226 of file GaitGenerator.h.

Definition at line 1260 of file GaitGenerator.h.

Definition at line 1262 of file GaitGenerator.h.

void rats::gait_generator::set_overwritable_stride_limitation ( const double(&)  _overwritable_stride_limitation[5]) [inline]

Definition at line 1287 of file GaitGenerator.h.

Definition at line 1316 of file GaitGenerator.h.

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

Definition at line 1270 of file GaitGenerator.h.

Definition at line 1245 of file GaitGenerator.h.

void rats::gait_generator::set_stride_limitation_for_circle_type ( const double(&)  _stride_limitation_for_circle_type[5]) [inline]

Definition at line 1282 of file GaitGenerator.h.

Definition at line 1308 of file GaitGenerator.h.

void rats::gait_generator::set_stride_parameters ( const double  _stride_fwd_x,
const double  _stride_outside_y,
const double  _stride_outside_theta,
const double  _stride_bwd_x,
const double  _stride_inside_y,
const double  _stride_inside_theta 
) [inline]

Definition at line 1230 of file GaitGenerator.h.

Definition at line 1242 of file GaitGenerator.h.

Definition at line 1243 of file GaitGenerator.h.

Definition at line 1244 of file GaitGenerator.h.

void rats::gait_generator::set_toe_angle ( const double  _angle) [inline]

Definition at line 1250 of file GaitGenerator.h.

Definition at line 1309 of file GaitGenerator.h.

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

Definition at line 1252 of file GaitGenerator.h.

Definition at line 1248 of file GaitGenerator.h.

Definition at line 1215 of file GaitGenerator.h.

Definition at line 1240 of file GaitGenerator.h.

void rats::gait_generator::set_use_stride_limitation ( const bool  _use_stride_limitation) [inline]

Definition at line 1304 of file GaitGenerator.h.

Definition at line 1218 of file GaitGenerator.h.

Definition at line 1217 of file GaitGenerator.h.

Definition at line 1258 of file GaitGenerator.h.

void rats::gait_generator::set_velocity_param ( const double  vel_x,
const double  vel_y,
const double  vel_theta 
) [inline]

Definition at line 1222 of file GaitGenerator.h.

void rats::gait_generator::set_zmp_weight_map ( const std::map< leg_type, double >  _map) [inline]

Definition at line 1219 of file GaitGenerator.h.


Member Data Documentation

std::vector<bool> rats::gait_generator::act_contact_states [private]

Definition at line 1061 of file GaitGenerator.h.

std::vector<std::string> rats::gait_generator::all_limbs [private]

Definition at line 1039 of file GaitGenerator.h.

Definition at line 1036 of file GaitGenerator.h.

Definition at line 1058 of file GaitGenerator.h.

Definition at line 1041 of file GaitGenerator.h.

Definition at line 1041 of file GaitGenerator.h.

Definition at line 1043 of file GaitGenerator.h.

Definition at line 1042 of file GaitGenerator.h.

Definition at line 1041 of file GaitGenerator.h.

Definition at line 1041 of file GaitGenerator.h.

Definition at line 1040 of file GaitGenerator.h.

Definition at line 1062 of file GaitGenerator.h.

Definition at line 1060 of file GaitGenerator.h.

double rats::gait_generator::dt [private]

Definition at line 1038 of file GaitGenerator.h.

Definition at line 1053 of file GaitGenerator.h.

Definition at line 1045 of file GaitGenerator.h.

Definition at line 1058 of file GaitGenerator.h.

std::vector< std::vector<step_node> > rats::gait_generator::footstep_nodes_list [private]

Definition at line 1028 of file GaitGenerator.h.

Definition at line 1033 of file GaitGenerator.h.

Definition at line 1044 of file GaitGenerator.h.

Definition at line 1056 of file GaitGenerator.h.

Definition at line 1059 of file GaitGenerator.h.

Definition at line 1032 of file GaitGenerator.h.

double rats::gait_generator::leg_margin[4] [private]

Definition at line 1058 of file GaitGenerator.h.

std::map<leg_type, std::string> rats::gait_generator::leg_type_map [private]

Definition at line 1055 of file GaitGenerator.h.

Definition at line 1058 of file GaitGenerator.h.

Definition at line 1060 of file GaitGenerator.h.

Definition at line 1059 of file GaitGenerator.h.

Definition at line 1034 of file GaitGenerator.h.

Definition at line 1045 of file GaitGenerator.h.

Definition at line 1051 of file GaitGenerator.h.

Definition at line 1058 of file GaitGenerator.h.

Definition at line 1048 of file GaitGenerator.h.

std::vector< std::vector<step_node> > rats::gait_generator::overwrite_footstep_nodes_list [private]

Definition at line 1030 of file GaitGenerator.h.

Definition at line 1036 of file GaitGenerator.h.

Definition at line 1037 of file GaitGenerator.h.

Definition at line 1066 of file GaitGenerator.h.

Definition at line 1036 of file GaitGenerator.h.

Definition at line 1031 of file GaitGenerator.h.

Definition at line 1057 of file GaitGenerator.h.

Definition at line 1058 of file GaitGenerator.h.

Definition at line 1037 of file GaitGenerator.h.

Definition at line 1035 of file GaitGenerator.h.

Definition at line 1054 of file GaitGenerator.h.

Definition at line 1059 of file GaitGenerator.h.

Definition at line 1034 of file GaitGenerator.h.

Definition at line 1052 of file GaitGenerator.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:58