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

#include <GaitGenerator.h>

Inheritance diagram for rats::cross_delay_hoffarbib_trajectory_generator:
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Public Member Functions

double calc_antecedent_path (const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height)
 
 cross_delay_hoffarbib_trajectory_generator ()
 
void set_swing_leg (leg_type _lr)
 
 ~cross_delay_hoffarbib_trajectory_generator ()
 
- Public Member Functions inherited from rats::delay_hoffarbib_trajectory_generator
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 ()
 

Public Attributes

hrp::Vector3 way_point_offset
 

Private Attributes

leg_type swing_leg
 

Additional Inherited Members

- Protected Attributes inherited from rats::delay_hoffarbib_trajectory_generator
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
 

Detailed Description

Definition at line 654 of file GaitGenerator.h.

Constructor & Destructor Documentation

◆ cross_delay_hoffarbib_trajectory_generator()

rats::cross_delay_hoffarbib_trajectory_generator::cross_delay_hoffarbib_trajectory_generator ( )
inline

Definition at line 659 of file GaitGenerator.h.

◆ ~cross_delay_hoffarbib_trajectory_generator()

rats::cross_delay_hoffarbib_trajectory_generator::~cross_delay_hoffarbib_trajectory_generator ( )
inline

Definition at line 660 of file GaitGenerator.h.

Member Function Documentation

◆ calc_antecedent_path()

double rats::cross_delay_hoffarbib_trajectory_generator::calc_antecedent_path ( const hrp::Vector3 start,
const hrp::Vector3 goal,
const double  height 
)
inlinevirtual

Implements rats::delay_hoffarbib_trajectory_generator.

Definition at line 663 of file GaitGenerator.h.

◆ set_swing_leg()

void rats::cross_delay_hoffarbib_trajectory_generator::set_swing_leg ( leg_type  _lr)
inline

Definition at line 661 of file GaitGenerator.h.

Member Data Documentation

◆ swing_leg

leg_type rats::cross_delay_hoffarbib_trajectory_generator::swing_leg
private

Definition at line 657 of file GaitGenerator.h.

◆ way_point_offset

hrp::Vector3 rats::cross_delay_hoffarbib_trajectory_generator::way_point_offset

Definition at line 661 of file GaitGenerator.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:22