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

#include <GaitGenerator.h>

Public Member Functions

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

Private Member Functions

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

Private Attributes

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

Detailed Description

Definition at line 686 of file GaitGenerator.h.

Constructor & Destructor Documentation

◆ leg_coords_generator()

rats::leg_coords_generator::leg_coords_generator ( const double  _dt)
inline

Definition at line 744 of file GaitGenerator.h.

◆ ~leg_coords_generator()

rats::leg_coords_generator::~leg_coords_generator ( )
inline

Definition at line 776 of file GaitGenerator.h.

Member Function Documentation

◆ calc_current_swing_foot_rot()

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

Definition at line 224 of file GaitGenerator.cpp.

◆ calc_current_swing_leg_steps()

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

Definition at line 269 of file GaitGenerator.cpp.

◆ calc_interpolated_toe_heel_angle()

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

Definition at line 354 of file GaitGenerator.cpp.

◆ calc_ratio_from_double_support_ratio()

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

Definition at line 317 of file GaitGenerator.cpp.

◆ calc_swing_leg_src_steps()

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

Definition at line 922 of file GaitGenerator.h.

◆ calc_swing_support_mid_coords()

void rats::leg_coords_generator::calc_swing_support_mid_coords ( )
private

Definition at line 481 of file GaitGenerator.cpp.

◆ calc_swing_support_params_from_footstep_nodes_list()

void rats::leg_coords_generator::calc_swing_support_params_from_footstep_nodes_list ( const std::vector< std::vector< step_node > > &  fnsl)
inline

Definition at line 942 of file GaitGenerator.h.

◆ clear_interpolators()

void rats::leg_coords_generator::clear_interpolators ( )
inline

Definition at line 906 of file GaitGenerator.h.

◆ cross_delay_midcoords()

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

Definition at line 457 of file GaitGenerator.cpp.

◆ cycloid_delay_kick_midcoords()

void rats::leg_coords_generator::cycloid_delay_kick_midcoords ( coordinates ret,
const coordinates start,
const coordinates goal,
const double  height 
)
private

Definition at line 450 of file GaitGenerator.cpp.

◆ cycloid_delay_midcoords()

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

Definition at line 444 of file GaitGenerator.cpp.

◆ cycloid_midcoords()

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

Definition at line 426 of file GaitGenerator.cpp.

◆ get_current_support_states()

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

Definition at line 976 of file GaitGenerator.h.

◆ get_current_swing_time()

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

Definition at line 962 of file GaitGenerator.h.

◆ get_current_toe_heel_ratio()

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

Definition at line 1001 of file GaitGenerator.h.

◆ get_cycloid_delay_kick_point_offset()

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

Definition at line 992 of file GaitGenerator.h.

◆ get_default_orbit_type()

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

Definition at line 987 of file GaitGenerator.h.

◆ get_default_step_height()

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

Definition at line 971 of file GaitGenerator.h.

◆ get_foot_dif_rot_angle()

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

Definition at line 997 of file GaitGenerator.h.

◆ get_footstep_index()

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

Definition at line 960 of file GaitGenerator.h.

◆ get_heel_angle()

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

Definition at line 996 of file GaitGenerator.h.

◆ get_heel_pos_offset_x()

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

Definition at line 994 of file GaitGenerator.h.

◆ get_lcg_count()

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

Definition at line 961 of file GaitGenerator.h.

◆ get_stair_trajectory_way_point_offset()

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

Definition at line 991 of file GaitGenerator.h.

◆ get_support_leg_steps()

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

Definition at line 964 of file GaitGenerator.h.

◆ get_support_leg_steps_idx()

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

Definition at line 968 of file GaitGenerator.h.

◆ get_support_leg_types()

const std::vector<leg_type>& rats::leg_coords_generator::get_support_leg_types ( ) const
inline

Definition at line 969 of file GaitGenerator.h.

◆ get_swing_leg_dst_steps()

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

Definition at line 966 of file GaitGenerator.h.

◆ get_swing_leg_dst_steps_idx()

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

Definition at line 967 of file GaitGenerator.h.

◆ get_swing_leg_src_steps()

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

Definition at line 965 of file GaitGenerator.h.

◆ get_swing_leg_steps()

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

Definition at line 963 of file GaitGenerator.h.

◆ get_swing_leg_types()

const std::vector<leg_type>& rats::leg_coords_generator::get_swing_leg_types ( ) const
inline

Definition at line 970 of file GaitGenerator.h.

◆ get_swing_support_mid_coords()

void rats::leg_coords_generator::get_swing_support_mid_coords ( coordinates ret) const
inline

Definition at line 972 of file GaitGenerator.h.

◆ get_swing_trajectory_delay_time_offset()

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

Definition at line 988 of file GaitGenerator.h.

◆ get_swing_trajectory_final_distance_weight()

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

Definition at line 989 of file GaitGenerator.h.

◆ get_swing_trajectory_time_offset_xy2z()

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

Definition at line 990 of file GaitGenerator.h.

◆ get_toe_angle()

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

Definition at line 995 of file GaitGenerator.h.

◆ get_toe_heel_phase_ratio()

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

Definition at line 1000 of file GaitGenerator.h.

◆ get_toe_pos_offset_x()

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

Definition at line 993 of file GaitGenerator.h.

◆ get_use_toe_heel_auto_set()

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

Definition at line 999 of file GaitGenerator.h.

◆ get_use_toe_joint()

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

Definition at line 998 of file GaitGenerator.h.

◆ is_same_footstep_nodes()

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

Definition at line 464 of file GaitGenerator.cpp.

◆ modif_foot_coords_for_toe_heel_phase()

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

Definition at line 373 of file GaitGenerator.cpp.

◆ rectangle_midcoords()

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

Definition at line 432 of file GaitGenerator.cpp.

◆ reset()

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

Definition at line 854 of file GaitGenerator.h.

◆ set_cycloid_delay_kick_point_offset()

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

Definition at line 818 of file GaitGenerator.h.

◆ set_default_orbit_type()

void rats::leg_coords_generator::set_default_orbit_type ( const orbit_type  _tmp)
inline

Definition at line 795 of file GaitGenerator.h.

◆ set_default_step_height()

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

Definition at line 793 of file GaitGenerator.h.

◆ set_default_top_ratio()

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

Definition at line 794 of file GaitGenerator.h.

◆ set_heel_angle()

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

Definition at line 822 of file GaitGenerator.h.

◆ set_heel_pos_offset_x()

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

Definition at line 820 of file GaitGenerator.h.

◆ set_stair_trajectory_way_point_offset()

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

Definition at line 817 of file GaitGenerator.h.

◆ set_swing_support_steps_list()

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

Definition at line 825 of file GaitGenerator.h.

◆ set_swing_trajectory_delay_time_offset()

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

Definition at line 796 of file GaitGenerator.h.

◆ set_swing_trajectory_final_distance_weight()

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

Definition at line 803 of file GaitGenerator.h.

◆ set_swing_trajectory_time_offset_xy2z()

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

Definition at line 810 of file GaitGenerator.h.

◆ set_toe_angle()

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

Definition at line 821 of file GaitGenerator.h.

◆ set_toe_heel_phase_ratio()

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

Definition at line 853 of file GaitGenerator.h.

◆ set_toe_pos_offset_x()

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

Definition at line 819 of file GaitGenerator.h.

◆ set_use_toe_heel_auto_set()

void rats::leg_coords_generator::set_use_toe_heel_auto_set ( const bool  ut)
inline

Definition at line 824 of file GaitGenerator.h.

◆ set_use_toe_joint()

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

Definition at line 823 of file GaitGenerator.h.

◆ stair_midcoords()

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

Definition at line 438 of file GaitGenerator.cpp.

◆ update_leg_steps()

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

Definition at line 541 of file GaitGenerator.cpp.

Member Data Documentation

◆ cdktg

cycloid_delay_kick_hoffarbib_trajectory_generator rats::leg_coords_generator::cdktg
private

Definition at line 711 of file GaitGenerator.h.

◆ cdtg

std::vector<cycloid_delay_hoffarbib_trajectory_generator> rats::leg_coords_generator::cdtg
private

Definition at line 710 of file GaitGenerator.h.

◆ crdtg

cross_delay_hoffarbib_trajectory_generator rats::leg_coords_generator::crdtg
private

Definition at line 712 of file GaitGenerator.h.

◆ current_dst_toe_heel_type

toe_heel_type rats::leg_coords_generator::current_dst_toe_heel_type
private

Definition at line 722 of file GaitGenerator.h.

◆ current_heel_angle

double rats::leg_coords_generator::current_heel_angle
private

Definition at line 696 of file GaitGenerator.h.

◆ current_src_toe_heel_type

toe_heel_type rats::leg_coords_generator::current_src_toe_heel_type
private

Definition at line 722 of file GaitGenerator.h.

◆ current_step_height

double rats::leg_coords_generator::current_step_height
private

Definition at line 696 of file GaitGenerator.h.

◆ current_swing_time

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

Definition at line 698 of file GaitGenerator.h.

◆ current_toe_angle

double rats::leg_coords_generator::current_toe_angle
private

Definition at line 696 of file GaitGenerator.h.

◆ default_orbit_type

orbit_type rats::leg_coords_generator::default_orbit_type
private

Definition at line 705 of file GaitGenerator.h.

◆ default_step_height

double rats::leg_coords_generator::default_step_height
private

Definition at line 696 of file GaitGenerator.h.

◆ default_top_ratio

double rats::leg_coords_generator::default_top_ratio
private

Definition at line 696 of file GaitGenerator.h.

◆ dt

double rats::leg_coords_generator::dt
private

Definition at line 696 of file GaitGenerator.h.

◆ final_distance_weight

double rats::leg_coords_generator::final_distance_weight
private

Definition at line 697 of file GaitGenerator.h.

◆ foot_dif_rot_angle

double rats::leg_coords_generator::foot_dif_rot_angle
private

Definition at line 720 of file GaitGenerator.h.

◆ foot_midcoords_interpolator

interpolator* rats::leg_coords_generator::foot_midcoords_interpolator
private

Definition at line 714 of file GaitGenerator.h.

◆ footstep_index

size_t rats::leg_coords_generator::footstep_index
private

Definition at line 700 of file GaitGenerator.h.

◆ heel_angle

double rats::leg_coords_generator::heel_angle
private

Definition at line 720 of file GaitGenerator.h.

◆ heel_pos_offset_x

double rats::leg_coords_generator::heel_pos_offset_x
private

Definition at line 720 of file GaitGenerator.h.

◆ is_swing_phase

bool rats::leg_coords_generator::is_swing_phase
private

Definition at line 706 of file GaitGenerator.h.

◆ lcg_count

size_t rats::leg_coords_generator::lcg_count
private

Definition at line 702 of file GaitGenerator.h.

◆ next_one_step_count

size_t rats::leg_coords_generator::next_one_step_count
private

Definition at line 702 of file GaitGenerator.h.

◆ one_step_count

size_t rats::leg_coords_generator::one_step_count
private

Definition at line 702 of file GaitGenerator.h.

◆ rdtg

std::vector<rectangle_delay_hoffarbib_trajectory_generator> rats::leg_coords_generator::rdtg
private

Definition at line 708 of file GaitGenerator.h.

◆ sdtg

stair_delay_hoffarbib_trajectory_generator rats::leg_coords_generator::sdtg
private

Definition at line 709 of file GaitGenerator.h.

◆ support_leg_steps

std::vector<step_node> rats::leg_coords_generator::support_leg_steps
private

Definition at line 693 of file GaitGenerator.h.

◆ support_leg_steps_list

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

Definition at line 691 of file GaitGenerator.h.

◆ support_leg_types

std::vector<leg_type> rats::leg_coords_generator::support_leg_types
private

Definition at line 704 of file GaitGenerator.h.

◆ swing_foot_rot_interpolator

std::map<leg_type, interpolator*> rats::leg_coords_generator::swing_foot_rot_interpolator
private

Definition at line 717 of file GaitGenerator.h.

◆ swing_leg_dst_steps

std::vector<step_node> rats::leg_coords_generator::swing_leg_dst_steps
private

Definition at line 695 of file GaitGenerator.h.

◆ swing_leg_dst_steps_list

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

Definition at line 691 of file GaitGenerator.h.

◆ swing_leg_src_steps

std::vector<step_node> rats::leg_coords_generator::swing_leg_src_steps
private

Definition at line 695 of file GaitGenerator.h.

◆ swing_leg_steps

std::vector<step_node> rats::leg_coords_generator::swing_leg_steps
private

Definition at line 695 of file GaitGenerator.h.

◆ swing_leg_types

std::vector<leg_type> rats::leg_coords_generator::swing_leg_types
private

Definition at line 704 of file GaitGenerator.h.

◆ swing_ratio

double rats::leg_coords_generator::swing_ratio
private

Definition at line 696 of file GaitGenerator.h.

◆ swing_support_midcoords

coordinates rats::leg_coords_generator::swing_support_midcoords
private

Definition at line 715 of file GaitGenerator.h.

◆ thp

toe_heel_phase_counter rats::leg_coords_generator::thp
private

Definition at line 713 of file GaitGenerator.h.

◆ time_offset

double rats::leg_coords_generator::time_offset
private

Definition at line 697 of file GaitGenerator.h.

◆ time_offset_xy2z

double rats::leg_coords_generator::time_offset_xy2z
private

Definition at line 697 of file GaitGenerator.h.

◆ toe_angle

double rats::leg_coords_generator::toe_angle
private

Definition at line 720 of file GaitGenerator.h.

◆ toe_heel_dif_angle

double rats::leg_coords_generator::toe_heel_dif_angle
private

Definition at line 720 of file GaitGenerator.h.

◆ toe_heel_interpolator

interpolator* rats::leg_coords_generator::toe_heel_interpolator
private

Definition at line 719 of file GaitGenerator.h.

◆ toe_pos_offset_x

double rats::leg_coords_generator::toe_pos_offset_x
private

Definition at line 720 of file GaitGenerator.h.

◆ use_toe_heel_auto_set

bool rats::leg_coords_generator::use_toe_heel_auto_set
private

Definition at line 721 of file GaitGenerator.h.

◆ use_toe_joint

bool rats::leg_coords_generator::use_toe_joint
private

Definition at line 721 of file GaitGenerator.h.


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


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