Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
rats::gait_generator Class Reference

#include <GaitGenerator.h>

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_type > calc_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::Vector3 & get_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_type > get_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::Vector3 & get_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::Vector3 > get_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_generator & operator= (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::Vector3 > prev_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::Vector3 > swing_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 1015 of file GaitGenerator.h.

Member Enumeration Documentation

enum rats::gait_generator::emergency_flag
private
Enumerator
IDLING 
EMERGENCY_STOP 
STOPPING 

Definition at line 1024 of file GaitGenerator.h.

enum rats::gait_generator::velocity_mode_flag
private
Enumerator
VEL_IDLING 
VEL_DOING 
VEL_ENDING 

Definition at line 1023 of file GaitGenerator.h.

Constructor & Destructor Documentation

rats::gait_generator::gait_generator ( const gait_generator &  _p)
private
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 1104 of file GaitGenerator.h.

rats::gait_generator::~gait_generator ( )
inline

Definition at line 1126 of file GaitGenerator.h.

Member Function Documentation

void rats::gait_generator::append_finalize_footstep ( )
inline

Definition at line 1188 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 1192 of file GaitGenerator.h.

void rats::gait_generator::append_footstep_list_velocity_mode ( )
private

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 1139 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 1147 of file GaitGenerator.h.

void rats::gait_generator::append_go_pos_step_nodes ( const coordinates &  _ref_coords,
const std::vector< leg_type > &  lts 
)
inlineprivate

Definition at line 1069 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
inlineprivate

Definition at line 1075 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 1161 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.

void rats::gait_generator::clear_footstep_nodes_list ( )
inline

Definition at line 1155 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 1366 of file GaitGenerator.h.

void rats::gait_generator::emergency_stop ( )
inline

Definition at line 1200 of file GaitGenerator.h.

void rats::gait_generator::finalize_velocity_mode ( )

Definition at line 982 of file GaitGenerator.cpp.

hrp::Vector3 rats::gait_generator::get_cart_zmp ( ) const
inline

Definition at line 1360 of file GaitGenerator.h.

const hrp::Vector3& rats::gait_generator::get_cog ( ) const
inline

Definition at line 1348 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::get_cog_acc ( ) const
inline

Definition at line 1354 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::get_cog_vel ( ) const
inline

Definition at line 1349 of file GaitGenerator.h.

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

Definition at line 1508 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 1533 of file GaitGenerator.h.

std::vector<leg_type> rats::gait_generator::get_current_support_states ( ) const
inline

Definition at line 1449 of file GaitGenerator.h.

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

Definition at line 1443 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 1445 of file GaitGenerator.h.

double rats::gait_generator::get_current_toe_heel_ratio ( ) const
inline

Definition at line 1483 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 1485 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::get_cycloid_delay_kick_point_offset ( ) const
inline

Definition at line 1473 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_ratio_after ( ) const
inline

Definition at line 1453 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_ratio_before ( ) const
inline

Definition at line 1452 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_ratio_swing_after ( ) const
inline

Definition at line 1457 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_ratio_swing_before ( ) const
inline

Definition at line 1456 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_static_ratio_after ( ) const
inline

Definition at line 1455 of file GaitGenerator.h.

double rats::gait_generator::get_default_double_support_static_ratio_before ( ) const
inline

Definition at line 1454 of file GaitGenerator.h.

orbit_type rats::gait_generator::get_default_orbit_type ( ) const
inline

Definition at line 1468 of file GaitGenerator.h.

double rats::gait_generator::get_default_step_height ( ) const
inline

Definition at line 1451 of file GaitGenerator.h.

double rats::gait_generator::get_default_step_time ( ) const
inline

Definition at line 1450 of file GaitGenerator.h.

const coordinates rats::gait_generator::get_dst_foot_midcoords ( ) const
inline

Definition at line 1424 of file GaitGenerator.h.

double rats::gait_generator::get_foot_dif_rot_angle ( ) const
inline

Definition at line 1479 of file GaitGenerator.h.

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

Definition at line 1411 of file GaitGenerator.h.

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

Definition at line 1404 of file GaitGenerator.h.

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

Definition at line 1441 of file GaitGenerator.h.

double rats::gait_generator::get_footstep_modification_gain ( ) const
inline

Definition at line 1507 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 1326 of file GaitGenerator.h.

double rats::gait_generator::get_gravitational_acceleration ( ) const
inline

Definition at line 1474 of file GaitGenerator.h.

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

Definition at line 1478 of file GaitGenerator.h.

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

Definition at line 1514 of file GaitGenerator.h.

double rats::gait_generator::get_heel_pos_offset_x ( ) const
inline

Definition at line 1476 of file GaitGenerator.h.

double rats::gait_generator::get_heel_zmp_offset_x ( ) const
inline

Definition at line 1399 of file GaitGenerator.h.

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

Definition at line 1442 of file GaitGenerator.h.

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

Definition at line 1497 of file GaitGenerator.h.

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

Definition at line 1504 of file GaitGenerator.h.

leg_type rats::gait_generator::get_leg_type_from_ee_name ( const std::string &  ee_name) const
inlineprivate

Definition at line 1093 of file GaitGenerator.h.

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

Definition at line 1500 of file GaitGenerator.h.

double rats::gait_generator::get_margin_time_ratio ( ) const
inline

Definition at line 1510 of file GaitGenerator.h.

bool rats::gait_generator::get_modify_footsteps ( ) const
inline

Definition at line 1509 of file GaitGenerator.h.

int rats::gait_generator::get_NUM_TH_PHASES ( ) const
inline

Definition at line 1481 of file GaitGenerator.h.

size_t rats::gait_generator::get_optional_go_pos_finalize_footstep_num ( ) const
inline

Definition at line 1501 of file GaitGenerator.h.

size_t rats::gait_generator::get_overwritable_footstep_index_offset ( ) const
inline

Definition at line 1498 of file GaitGenerator.h.

size_t rats::gait_generator::get_overwritable_index ( ) const
inline

Definition at line 1313 of file GaitGenerator.h.

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

Definition at line 1506 of file GaitGenerator.h.

size_t rats::gait_generator::get_overwrite_check_timing ( ) const
inline

Definition at line 1503 of file GaitGenerator.h.

const hrp::Vector3& rats::gait_generator::get_refzmp ( ) const
inline

Definition at line 1359 of file GaitGenerator.h.

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

Definition at line 1458 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::get_stair_trajectory_way_point_offset ( ) const
inline

Definition at line 1472 of file GaitGenerator.h.

double rats::gait_generator::get_stride_limitation_for_circle_type ( const size_t  idx) const
inline

Definition at line 1505 of file GaitGenerator.h.

stride_limitation_type rats::gait_generator::get_stride_limitation_type ( ) const
inline

Definition at line 1512 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 1431 of file GaitGenerator.h.

std::vector<hrp::Vector3> rats::gait_generator::get_support_foot_zmp_offsets ( ) const
inline

Definition at line 1374 of file GaitGenerator.h.

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

Definition at line 1418 of file GaitGenerator.h.

const std::vector<step_node>& rats::gait_generator::get_support_leg_steps ( ) const
inline

Definition at line 1421 of file GaitGenerator.h.

const std::vector<hrp::Vector3>& rats::gait_generator::get_swing_foot_zmp_offsets ( ) const
inline

Definition at line 1373 of file GaitGenerator.h.

const std::vector<step_node>& rats::gait_generator::get_swing_leg_dst_steps ( ) const
inline

Definition at line 1423 of file GaitGenerator.h.

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

Definition at line 1419 of file GaitGenerator.h.

const std::vector<step_node>& rats::gait_generator::get_swing_leg_src_steps ( ) const
inline

Definition at line 1422 of file GaitGenerator.h.

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

Definition at line 1420 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 1516 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 1382 of file GaitGenerator.h.

void rats::gait_generator::get_swing_support_mid_coords ( coordinates &  ret) const
inline

Definition at line 1430 of file GaitGenerator.h.

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

Definition at line 1469 of file GaitGenerator.h.

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

Definition at line 1470 of file GaitGenerator.h.

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

Definition at line 1471 of file GaitGenerator.h.

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

Definition at line 1477 of file GaitGenerator.h.

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

Definition at line 1513 of file GaitGenerator.h.

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

Definition at line 1480 of file GaitGenerator.h.

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

Definition at line 1475 of file GaitGenerator.h.

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

Definition at line 1398 of file GaitGenerator.h.

bool rats::gait_generator::get_use_stride_limitation ( ) const
inline

Definition at line 1511 of file GaitGenerator.h.

bool rats::gait_generator::get_use_toe_heel_auto_set ( ) const
inline

Definition at line 1401 of file GaitGenerator.h.

bool rats::gait_generator::get_use_toe_heel_transition ( ) const
inline

Definition at line 1400 of file GaitGenerator.h.

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

Definition at line 1482 of file GaitGenerator.h.

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

Definition at line 1402 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 1160 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 1502 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.

void rats::gait_generator::modify_footsteps_for_recovery ( )

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 1335 of file GaitGenerator.h.

void rats::gait_generator::print_footstep_nodes_list ( ) const
inline

Definition at line 1343 of file GaitGenerator.h.

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

Definition at line 1548 of file GaitGenerator.h.

bool rats::gait_generator::proc_one_tick ( )

Definition at line 650 of file GaitGenerator.cpp.

void rats::gait_generator::proc_zmp_weight_map_interpolation ( )
inline

Definition at line 1403 of file GaitGenerator.h.

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

Definition at line 1299 of file GaitGenerator.h.

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

Definition at line 1262 of file GaitGenerator.h.

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

Definition at line 1294 of file GaitGenerator.h.

void rats::gait_generator::set_cycloid_delay_kick_point_offset ( const hrp::Vector3  _offset)
inline

Definition at line 1247 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 1210 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 1209 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 1214 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 1213 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 1212 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 1211 of file GaitGenerator.h.

void rats::gait_generator::set_default_orbit_type ( const orbit_type  type)
inline

Definition at line 1242 of file GaitGenerator.h.

void rats::gait_generator::set_default_step_height ( const double  _tmp)
inline

Definition at line 1221 of file GaitGenerator.h.

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

Definition at line 1208 of file GaitGenerator.h.

void rats::gait_generator::set_default_top_ratio ( const double  _tmp)
inline

Definition at line 1222 of file GaitGenerator.h.

void rats::gait_generator::set_default_zmp_offsets ( const std::vector< hrp::Vector3 > &  tmp)
inline

Definition at line 1215 of file GaitGenerator.h.

void rats::gait_generator::set_diff_cp ( const hrp::Vector3  _cp)
inline

Definition at line 1308 of file GaitGenerator.h.

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

Definition at line 1264 of file GaitGenerator.h.

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

Definition at line 1293 of file GaitGenerator.h.

void rats::gait_generator::set_gravitational_acceleration ( const double  ga)
inline

Definition at line 1248 of file GaitGenerator.h.

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

Definition at line 1252 of file GaitGenerator.h.

void rats::gait_generator::set_heel_check_thre ( const double  _a)
inline

Definition at line 1311 of file GaitGenerator.h.

void rats::gait_generator::set_heel_pos_offset_x ( const double  _offx)
inline

Definition at line 1250 of file GaitGenerator.h.

void rats::gait_generator::set_heel_zmp_offset_x ( const double  _off)
inline

Definition at line 1217 of file GaitGenerator.h.

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

Definition at line 1260 of file GaitGenerator.h.

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

Definition at line 1278 of file GaitGenerator.h.

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

Definition at line 1307 of file GaitGenerator.h.

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

Definition at line 1306 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 1227 of file GaitGenerator.h.

void rats::gait_generator::set_optional_go_pos_finalize_footstep_num ( const size_t  num)
inline

Definition at line 1261 of file GaitGenerator.h.

void rats::gait_generator::set_overwritable_footstep_index_offset ( const size_t  _of)
inline

Definition at line 1263 of file GaitGenerator.h.

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

Definition at line 1288 of file GaitGenerator.h.

bool rats::gait_generator::set_overwrite_foot_step_index ( const size_t  idx)
inline

Definition at line 1317 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 1271 of file GaitGenerator.h.

void rats::gait_generator::set_stair_trajectory_way_point_offset ( const hrp::Vector3  _offset)
inline

Definition at line 1246 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 1283 of file GaitGenerator.h.

void rats::gait_generator::set_stride_limitation_type ( const stride_limitation_type  _tmp)
inline

Definition at line 1309 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 1231 of file GaitGenerator.h.

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

Definition at line 1243 of file GaitGenerator.h.

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

Definition at line 1244 of file GaitGenerator.h.

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

Definition at line 1245 of file GaitGenerator.h.

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

Definition at line 1251 of file GaitGenerator.h.

void rats::gait_generator::set_toe_check_thre ( const double  _a)
inline

Definition at line 1310 of file GaitGenerator.h.

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

Definition at line 1253 of file GaitGenerator.h.

void rats::gait_generator::set_toe_pos_offset_x ( const double  _offx)
inline

Definition at line 1249 of file GaitGenerator.h.

void rats::gait_generator::set_toe_zmp_offset_x ( const double  _off)
inline

Definition at line 1216 of file GaitGenerator.h.

void rats::gait_generator::set_use_inside_step_limitation ( const bool  uu)
inline

Definition at line 1241 of file GaitGenerator.h.

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

Definition at line 1305 of file GaitGenerator.h.

void rats::gait_generator::set_use_toe_heel_auto_set ( const bool  _u)
inline

Definition at line 1219 of file GaitGenerator.h.

void rats::gait_generator::set_use_toe_heel_transition ( const bool  _u)
inline

Definition at line 1218 of file GaitGenerator.h.

void rats::gait_generator::set_use_toe_joint ( const bool  ut)
inline

Definition at line 1259 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 1223 of file GaitGenerator.h.

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

Definition at line 1220 of file GaitGenerator.h.

Member Data Documentation

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

Definition at line 1062 of file GaitGenerator.h.

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

Definition at line 1040 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::cog
private

Definition at line 1037 of file GaitGenerator.h.

double rats::gait_generator::cp_check_margin[2]
private

Definition at line 1059 of file GaitGenerator.h.

double rats::gait_generator::default_double_support_ratio_after
private

Definition at line 1042 of file GaitGenerator.h.

double rats::gait_generator::default_double_support_ratio_before
private

Definition at line 1042 of file GaitGenerator.h.

double rats::gait_generator::default_double_support_ratio_swing_after
private

Definition at line 1044 of file GaitGenerator.h.

double rats::gait_generator::default_double_support_ratio_swing_before
private

Definition at line 1043 of file GaitGenerator.h.

double rats::gait_generator::default_double_support_static_ratio_after
private

Definition at line 1042 of file GaitGenerator.h.

double rats::gait_generator::default_double_support_static_ratio_before
private

Definition at line 1042 of file GaitGenerator.h.

double rats::gait_generator::default_step_time
private

Definition at line 1041 of file GaitGenerator.h.

stride_limitation_type rats::gait_generator::default_stride_limitation_type
private

Definition at line 1063 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::diff_cp
private

Definition at line 1061 of file GaitGenerator.h.

double rats::gait_generator::dt
private

Definition at line 1039 of file GaitGenerator.h.

emergency_flag rats::gait_generator::emergency_flg
private

Definition at line 1054 of file GaitGenerator.h.

size_t rats::gait_generator::finalize_count
private

Definition at line 1046 of file GaitGenerator.h.

double rats::gait_generator::footstep_modification_gain
private

Definition at line 1059 of file GaitGenerator.h.

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

Definition at line 1029 of file GaitGenerator.h.

footstep_parameter rats::gait_generator::footstep_param
private

Definition at line 1034 of file GaitGenerator.h.

double rats::gait_generator::gravitational_acceleration
private

Definition at line 1045 of file GaitGenerator.h.

coordinates rats::gait_generator::initial_foot_mid_coords
private

Definition at line 1057 of file GaitGenerator.h.

bool rats::gait_generator::is_emergency_walking[2]
private

Definition at line 1060 of file GaitGenerator.h.

leg_coords_generator rats::gait_generator::lcg
private

Definition at line 1033 of file GaitGenerator.h.

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

Definition at line 1059 of file GaitGenerator.h.

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

Definition at line 1056 of file GaitGenerator.h.

double rats::gait_generator::margin_time_ratio
private

Definition at line 1059 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::modified_d_footstep
private

Definition at line 1061 of file GaitGenerator.h.

bool rats::gait_generator::modify_footsteps
private

Definition at line 1060 of file GaitGenerator.h.

velocity_mode_parameter rats::gait_generator::offset_vel_param
private

Definition at line 1035 of file GaitGenerator.h.

size_t rats::gait_generator::optional_go_pos_finalize_footstep_num
private

Definition at line 1046 of file GaitGenerator.h.

size_t rats::gait_generator::overwritable_footstep_index_offset
private

Definition at line 1052 of file GaitGenerator.h.

double rats::gait_generator::overwritable_stride_limitation[5]
private

Definition at line 1059 of file GaitGenerator.h.

size_t rats::gait_generator::overwrite_footstep_index
private

Definition at line 1049 of file GaitGenerator.h.

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

Definition at line 1031 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::prev_que_rzmp
private

Definition at line 1037 of file GaitGenerator.h.

std::vector<hrp::Vector3> rats::gait_generator::prev_que_sfzos
private

Definition at line 1038 of file GaitGenerator.h.

preview_dynamics_filter<extended_preview_control>* rats::gait_generator::preview_controller_ptr
private

Definition at line 1067 of file GaitGenerator.h.

hrp::Vector3 rats::gait_generator::refzmp
private

Definition at line 1037 of file GaitGenerator.h.

refzmp_generator rats::gait_generator::rg
private

Definition at line 1032 of file GaitGenerator.h.

bool rats::gait_generator::solved
private

Definition at line 1058 of file GaitGenerator.h.

double rats::gait_generator::stride_limitation_for_circle_type[5]
private

Definition at line 1059 of file GaitGenerator.h.

std::vector<hrp::Vector3> rats::gait_generator::swing_foot_zmp_offsets
private

Definition at line 1038 of file GaitGenerator.h.

toe_heel_type_checker rats::gait_generator::thtc
private

Definition at line 1036 of file GaitGenerator.h.

bool rats::gait_generator::use_inside_step_limitation
private

Definition at line 1055 of file GaitGenerator.h.

bool rats::gait_generator::use_stride_limitation
private

Definition at line 1060 of file GaitGenerator.h.

velocity_mode_parameter rats::gait_generator::vel_param
private

Definition at line 1035 of file GaitGenerator.h.

velocity_mode_flag rats::gait_generator::velocity_mode_flg
private

Definition at line 1053 of file GaitGenerator.h.

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

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