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

#include <GaitGenerator.h>

Public Member Functions

bool get_current_refzmp (hrp::Vector3 &rzmp, std::vector< hrp::Vector3 > &swing_foot_zmp_offsets, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double default_double_support_static_ratio_before, const double default_double_support_static_ratio_after)
 
const hrp::Vector3get_default_zmp_offset (const leg_type lt) const
 
double get_heel_zmp_offset_x () const
 
const hrp::Vector3get_refzmp_cur () const
 
double get_toe_zmp_offset_x () const
 
bool get_use_toe_heel_auto_set () const
 
bool get_use_toe_heel_transition () const
 
const std::map< leg_type, double > get_zmp_weight_map () const
 
void proc_zmp_weight_map_interpolation ()
 
void push_refzmp_from_footstep_nodes_for_dual (const std::vector< step_node > &fns, const std::vector< step_node > &_support_leg_steps, const std::vector< step_node > &_swing_leg_steps)
 
void push_refzmp_from_footstep_nodes_for_single (const std::vector< step_node > &fns, const std::vector< step_node > &_support_leg_steps, const toe_heel_types &tht)
 
 refzmp_generator (const double _dt)
 
void remove_refzmp_cur_list_over_length (const size_t len)
 
void reset (const size_t _refzmp_count)
 
void set_default_zmp_offsets (const std::vector< hrp::Vector3 > &tmp)
 
void set_heel_zmp_offset_x (const double _off)
 
void set_indices (const size_t idx)
 
void set_refzmp_count (const size_t _refzmp_count)
 
bool set_toe_heel_phase_ratio (const std::vector< double > &ratio)
 
void set_toe_zmp_offset_x (const double _off)
 
void set_use_toe_heel_auto_set (const bool _u)
 
void set_use_toe_heel_transition (const bool _u)
 
void set_zmp_weight_map (const std::map< leg_type, double > _map)
 
void update_refzmp ()
 
 ~refzmp_generator ()
 

Private Member Functions

void calc_current_refzmp (hrp::Vector3 &ret, std::vector< hrp::Vector3 > &swing_foot_zmp_offsets, const double default_double_support_ratio_before, const double default_double_support_ratio_after, const double default_double_support_static_ratio_before, const double default_double_support_static_ratio_after)
 
const bool is_end_double_support_phase () const
 
const bool is_second_last_phase () const
 
const bool is_second_phase () const
 
const bool is_start_double_support_phase () const
 

Private Attributes

std::vector< hrp::Vector3default_zmp_offsets
 
double dt
 
std::vector< std::vector< hrp::Vector3 > > foot_x_axises_list
 
double heel_zmp_offset_x
 
size_t one_step_count
 
size_t refzmp_count
 
std::vector< hrp::Vector3refzmp_cur_list
 
size_t refzmp_index
 
std::vector< size_t > step_count_list
 
std::vector< std::vector< leg_type > > swing_leg_types_list
 
toe_heel_phase_counter thp
 
std::vector< toe_heel_typestoe_heel_types_list
 
double toe_zmp_offset_x
 
bool use_toe_heel_auto_set
 
bool use_toe_heel_transition
 
boost::shared_ptr< interpolatorzmp_weight_interpolator
 
std::map< leg_type, double > zmp_weight_map
 

Detailed Description

Definition at line 282 of file GaitGenerator.h.

Constructor & Destructor Documentation

◆ refzmp_generator()

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

Definition at line 308 of file GaitGenerator.h.

◆ ~refzmp_generator()

rats::refzmp_generator::~refzmp_generator ( )
inline

Definition at line 324 of file GaitGenerator.h.

Member Function Documentation

◆ calc_current_refzmp()

void rats::refzmp_generator::calc_current_refzmp ( hrp::Vector3 ret,
std::vector< hrp::Vector3 > &  swing_foot_zmp_offsets,
const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after,
const double  default_double_support_static_ratio_before,
const double  default_double_support_static_ratio_after 
)
private

Definition at line 133 of file GaitGenerator.cpp.

◆ get_current_refzmp()

bool rats::refzmp_generator::get_current_refzmp ( hrp::Vector3 rzmp,
std::vector< hrp::Vector3 > &  swing_foot_zmp_offsets,
const double  default_double_support_ratio_before,
const double  default_double_support_ratio_after,
const double  default_double_support_static_ratio_before,
const double  default_double_support_static_ratio_after 
)
inline

Definition at line 373 of file GaitGenerator.h.

◆ get_default_zmp_offset()

const hrp::Vector3& rats::refzmp_generator::get_default_zmp_offset ( const leg_type  lt) const
inline

Definition at line 379 of file GaitGenerator.h.

◆ get_heel_zmp_offset_x()

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

Definition at line 381 of file GaitGenerator.h.

◆ get_refzmp_cur()

const hrp::Vector3& rats::refzmp_generator::get_refzmp_cur ( ) const
inline

Definition at line 378 of file GaitGenerator.h.

◆ get_toe_zmp_offset_x()

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

Definition at line 380 of file GaitGenerator.h.

◆ get_use_toe_heel_auto_set()

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

Definition at line 383 of file GaitGenerator.h.

◆ get_use_toe_heel_transition()

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

Definition at line 382 of file GaitGenerator.h.

◆ get_zmp_weight_map()

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

Definition at line 384 of file GaitGenerator.h.

◆ is_end_double_support_phase()

const bool rats::refzmp_generator::is_end_double_support_phase ( ) const
inlineprivate

Definition at line 304 of file GaitGenerator.h.

◆ is_second_last_phase()

const bool rats::refzmp_generator::is_second_last_phase ( ) const
inlineprivate

Definition at line 303 of file GaitGenerator.h.

◆ is_second_phase()

const bool rats::refzmp_generator::is_second_phase ( ) const
inlineprivate

Definition at line 302 of file GaitGenerator.h.

◆ is_start_double_support_phase()

const bool rats::refzmp_generator::is_start_double_support_phase ( ) const
inlineprivate

Definition at line 301 of file GaitGenerator.h.

◆ proc_zmp_weight_map_interpolation()

void rats::refzmp_generator::proc_zmp_weight_map_interpolation ( )
inline

Definition at line 385 of file GaitGenerator.h.

◆ push_refzmp_from_footstep_nodes_for_dual()

void rats::refzmp_generator::push_refzmp_from_footstep_nodes_for_dual ( const std::vector< step_node > &  fns,
const std::vector< step_node > &  _support_leg_steps,
const std::vector< step_node > &  _swing_leg_steps 
)

Definition at line 74 of file GaitGenerator.cpp.

◆ push_refzmp_from_footstep_nodes_for_single()

void rats::refzmp_generator::push_refzmp_from_footstep_nodes_for_single ( const std::vector< step_node > &  fns,
const std::vector< step_node > &  _support_leg_steps,
const toe_heel_types tht 
)

Definition at line 106 of file GaitGenerator.cpp.

◆ remove_refzmp_cur_list_over_length()

void rats::refzmp_generator::remove_refzmp_cur_list_over_length ( const size_t  len)
inline

Definition at line 327 of file GaitGenerator.h.

◆ reset()

void rats::refzmp_generator::reset ( const size_t  _refzmp_count)
inline

Definition at line 335 of file GaitGenerator.h.

◆ set_default_zmp_offsets()

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

Definition at line 355 of file GaitGenerator.h.

◆ set_heel_zmp_offset_x()

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

Definition at line 357 of file GaitGenerator.h.

◆ set_indices()

void rats::refzmp_generator::set_indices ( const size_t  idx)
inline

Definition at line 353 of file GaitGenerator.h.

◆ set_refzmp_count()

void rats::refzmp_generator::set_refzmp_count ( const size_t  _refzmp_count)
inline

Definition at line 354 of file GaitGenerator.h.

◆ set_toe_heel_phase_ratio()

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

Definition at line 371 of file GaitGenerator.h.

◆ set_toe_zmp_offset_x()

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

Definition at line 356 of file GaitGenerator.h.

◆ set_use_toe_heel_auto_set()

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

Definition at line 359 of file GaitGenerator.h.

◆ set_use_toe_heel_transition()

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

Definition at line 358 of file GaitGenerator.h.

◆ set_zmp_weight_map()

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

Definition at line 360 of file GaitGenerator.h.

◆ update_refzmp()

void rats::refzmp_generator::update_refzmp ( )

Definition at line 207 of file GaitGenerator.cpp.

Member Data Documentation

◆ default_zmp_offsets

std::vector<hrp::Vector3> rats::refzmp_generator::default_zmp_offsets
private

Definition at line 293 of file GaitGenerator.h.

◆ dt

double rats::refzmp_generator::dt
private

Definition at line 296 of file GaitGenerator.h.

◆ foot_x_axises_list

std::vector< std::vector<hrp::Vector3> > rats::refzmp_generator::foot_x_axises_list
private

Definition at line 289 of file GaitGenerator.h.

◆ heel_zmp_offset_x

double rats::refzmp_generator::heel_zmp_offset_x
private

Definition at line 295 of file GaitGenerator.h.

◆ one_step_count

size_t rats::refzmp_generator::one_step_count
private

Definition at line 294 of file GaitGenerator.h.

◆ refzmp_count

size_t rats::refzmp_generator::refzmp_count
private

Definition at line 294 of file GaitGenerator.h.

◆ refzmp_cur_list

std::vector<hrp::Vector3> rats::refzmp_generator::refzmp_cur_list
private

Definition at line 287 of file GaitGenerator.h.

◆ refzmp_index

size_t rats::refzmp_generator::refzmp_index
private

Definition at line 294 of file GaitGenerator.h.

◆ step_count_list

std::vector<size_t> rats::refzmp_generator::step_count_list
private

Definition at line 291 of file GaitGenerator.h.

◆ swing_leg_types_list

std::vector< std::vector<leg_type> > rats::refzmp_generator::swing_leg_types_list
private

Definition at line 290 of file GaitGenerator.h.

◆ thp

toe_heel_phase_counter rats::refzmp_generator::thp
private

Definition at line 297 of file GaitGenerator.h.

◆ toe_heel_types_list

std::vector<toe_heel_types> rats::refzmp_generator::toe_heel_types_list
private

Definition at line 292 of file GaitGenerator.h.

◆ toe_zmp_offset_x

double rats::refzmp_generator::toe_zmp_offset_x
private

Definition at line 295 of file GaitGenerator.h.

◆ use_toe_heel_auto_set

bool rats::refzmp_generator::use_toe_heel_auto_set
private

Definition at line 298 of file GaitGenerator.h.

◆ use_toe_heel_transition

bool rats::refzmp_generator::use_toe_heel_transition
private

Definition at line 298 of file GaitGenerator.h.

◆ zmp_weight_interpolator

boost::shared_ptr<interpolator> rats::refzmp_generator::zmp_weight_interpolator
private

Definition at line 299 of file GaitGenerator.h.

◆ zmp_weight_map

std::map<leg_type, double> rats::refzmp_generator::zmp_weight_map
private

Definition at line 288 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