Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
rats::delay_hoffarbib_trajectory_generator Class Referenceabstract

#include <GaitGenerator.h>

Inheritance diagram for rats::delay_hoffarbib_trajectory_generator:
Inheritance graph
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Public Member Functions

double calc_antecedent_path_base (const std::vector< hrp::Vector3 > org_point_vec)
 
 delay_hoffarbib_trajectory_generator ()
 
double get_swing_trajectory_delay_time_offset () const
 
double get_swing_trajectory_final_distance_weight () const
 
double get_swing_trajectory_time_offset_xy2z () const
 
void get_trajectory_point (hrp::Vector3 &ret, const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height)
 
hrp::Vector3 interpolate_antecedent_path (const double tmp_ratio) const
 
void reset (const size_t _one_step_len, const double default_double_support_ratio_before, const double default_double_support_ratio_after)
 
void reset_all (const double _dt, const size_t _one_step_len, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double _time_offset, const double _final_distance_weight, const double _time_offset_xy2z)
 
void set_dt (const double _dt)
 
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)
 
 ~delay_hoffarbib_trajectory_generator ()
 

Protected Member Functions

virtual double calc_antecedent_path (const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height)=0
 

Protected Attributes

size_t current_count
 
size_t double_support_count_after
 
size_t double_support_count_before
 
double final_distance_weight
 
size_t one_step_count
 
double time_offset
 
double time_offset_xy2z
 

Private Member Functions

void hoffarbib_interpolation (double &_pos, double &_vel, double &_acc, const double tmp_remain_time, const double tmp_goal, const double tmp_goal_vel=0, const double tmp_goal_acc=0)
 

Private Attributes

hrp::Vector3 acc
 
std::vector< double > distance_vec
 
double dt
 
std::vector< hrp::Vector3 > point_vec
 
hrp::Vector3 pos
 
std::vector< double > sum_distance_vec
 
double total_path_length
 
hrp::Vector3 vel
 

Detailed Description

Definition at line 397 of file GaitGenerator.h.

Constructor & Destructor Documentation

rats::delay_hoffarbib_trajectory_generator::delay_hoffarbib_trajectory_generator ( )
inline

Definition at line 424 of file GaitGenerator.h.

rats::delay_hoffarbib_trajectory_generator::~delay_hoffarbib_trajectory_generator ( )
inline

Definition at line 425 of file GaitGenerator.h.

Member Function Documentation

virtual double rats::delay_hoffarbib_trajectory_generator::calc_antecedent_path ( const hrp::Vector3 &  start,
const hrp::Vector3 &  goal,
const double  height 
)
protectedpure virtual

Implemented in rats::cross_delay_hoffarbib_trajectory_generator, rats::cycloid_delay_kick_hoffarbib_trajectory_generator, rats::cycloid_delay_hoffarbib_trajectory_generator, rats::stair_delay_hoffarbib_trajectory_generator, and rats::rectangle_delay_hoffarbib_trajectory_generator.

double rats::delay_hoffarbib_trajectory_generator::calc_antecedent_path_base ( const std::vector< hrp::Vector3 >  org_point_vec)
inline

Definition at line 496 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::get_swing_trajectory_delay_time_offset ( ) const
inline

Definition at line 489 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::get_swing_trajectory_final_distance_weight ( ) const
inline

Definition at line 490 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::get_swing_trajectory_time_offset_xy2z ( ) const
inline

Definition at line 491 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::get_trajectory_point ( hrp::Vector3 &  ret,
const hrp::Vector3 &  start,
const hrp::Vector3 &  goal,
const double  height 
)
inline

Definition at line 447 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::hoffarbib_interpolation ( double &  _pos,
double &  _vel,
double &  _acc,
const double  tmp_remain_time,
const double  tmp_goal,
const double  tmp_goal_vel = 0,
const double  tmp_goal_acc = 0 
)
inlineprivate

Definition at line 408 of file GaitGenerator.h.

hrp::Vector3 rats::delay_hoffarbib_trajectory_generator::interpolate_antecedent_path ( const double  tmp_ratio) const
inline

Definition at line 527 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::reset ( const size_t  _one_step_len,
const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after 
)
inline

Definition at line 430 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::reset_all ( const double  _dt,
const size_t  _one_step_len,
const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after,
const double  _time_offset,
const double  _final_distance_weight,
const double  _time_offset_xy2z 
)
inline

Definition at line 437 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::set_dt ( const double  _dt)
inline

Definition at line 426 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::set_swing_trajectory_delay_time_offset ( const double  _time_offset)
inline

Definition at line 427 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::set_swing_trajectory_final_distance_weight ( const double  _final_distance_weight)
inline

Definition at line 428 of file GaitGenerator.h.

void rats::delay_hoffarbib_trajectory_generator::set_swing_trajectory_time_offset_xy2z ( const double  _tmp)
inline

Definition at line 429 of file GaitGenerator.h.

Member Data Documentation

hrp::Vector3 rats::delay_hoffarbib_trajectory_generator::acc
private

Definition at line 400 of file GaitGenerator.h.

size_t rats::delay_hoffarbib_trajectory_generator::current_count
protected

Definition at line 421 of file GaitGenerator.h.

std::vector<double> rats::delay_hoffarbib_trajectory_generator::distance_vec
private

Definition at line 404 of file GaitGenerator.h.

size_t rats::delay_hoffarbib_trajectory_generator::double_support_count_after
protected

Definition at line 421 of file GaitGenerator.h.

size_t rats::delay_hoffarbib_trajectory_generator::double_support_count_before
protected

Definition at line 421 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::dt
private

Definition at line 401 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::final_distance_weight
protected

Definition at line 419 of file GaitGenerator.h.

size_t rats::delay_hoffarbib_trajectory_generator::one_step_count
protected

Definition at line 421 of file GaitGenerator.h.

std::vector<hrp::Vector3> rats::delay_hoffarbib_trajectory_generator::point_vec
private

Definition at line 403 of file GaitGenerator.h.

hrp::Vector3 rats::delay_hoffarbib_trajectory_generator::pos
private

Definition at line 400 of file GaitGenerator.h.

std::vector<double> rats::delay_hoffarbib_trajectory_generator::sum_distance_vec
private

Definition at line 405 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::time_offset
protected

Definition at line 416 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::time_offset_xy2z
protected

Definition at line 420 of file GaitGenerator.h.

double rats::delay_hoffarbib_trajectory_generator::total_path_length
private

Definition at line 406 of file GaitGenerator.h.

hrp::Vector3 rats::delay_hoffarbib_trajectory_generator::vel
private

Definition at line 400 of file GaitGenerator.h.

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

hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:54