rats Namespace Reference

Classes
struct	coordinates
class	cross_delay_hoffarbib_trajectory_generator
class	cycloid_delay_hoffarbib_trajectory_generator
class	cycloid_delay_kick_hoffarbib_trajectory_generator
class	delay_hoffarbib_trajectory_generator
class	extended_preview_control
struct	footstep_parameter
class	gait_generator
class	leg_coords_generator
class	preview_control
class	preview_control_base
class	preview_dynamics_filter
class	rectangle_delay_hoffarbib_trajectory_generator
class	refzmp_generator
struct	riccati_equation
class	stair_delay_hoffarbib_trajectory_generator
struct	step_node
class	toe_heel_phase_counter
class	toe_heel_type_checker
struct	toe_heel_types
struct	velocity_mode_parameter

Enumerations
enum	leg_type {   RLEG, LLEG, RARM, LARM,   BOTH, ALL }
enum	orbit_type {   SHUFFLING, CYCLOID, RECTANGLE, STAIR,   CYCLOIDDELAY, CYCLOIDDELAYKICK, CROSS }
enum	stride_limitation_type { SQUARE, CIRCLE }
enum	toe_heel_phase {   SOLE0, SOLE2TOE, TOE2SOLE, SOLE1,   SOLE2HEEL, HEEL2SOLE, SOLE2, NUM_TH_PHASES }
enum	toe_heel_type { SOLE, TOE, HEEL }

Functions
void	cycloid_midpoint (hrp::Vector3 &ret, const double ratio, const hrp::Vector3 &start, const hrp::Vector3 &goal, const double height, const double default_top_ratio)
void	difference_rotation (hrp::Vector3 &ret_dif_rot, const hrp::Matrix33 &self_rot, const hrp::Matrix33 &target_rot)
bool	eps_eq (const double a, const double b, const double eps=0.001)
std::string	leg_type_to_leg_type_string (const leg_type l_r)
hrp::Vector3	matrix_log (const hrp::Matrix33 &m)
void	mid_coords (coordinates &mid_coords, const double p, const coordinates &c1, const coordinates &c2, const double eps)
void	mid_rot (hrp::Matrix33 &mid_rot, const double p, const hrp::Matrix33 &rot1, const hrp::Matrix33 &rot2, const double eps)
void	multi_mid_coords (coordinates &ret, const std::vector< coordinates > &cs, const double eps)
void	rotm3times (hrp::Matrix33 &m12, const hrp::Matrix33 &m1, const hrp::Matrix33 &m2)
double	set_value_according_to_toe_heel_type (const toe_heel_type tht, const double toe_value, const double heel_value, const double default_value)

Variables
static const double	DEFAULT_GRAVITATIONAL_ACCELERATION = 9.80665
static double	no_using_toe_heel_ratio = 1.0
static double	using_toe_heel_ratio = 0.0

Enumeration Type Documentation

leg_type

enum rats::leg_type

Enumerator
RLEG
LLEG
RARM
LARM
BOTH
ALL

Definition at line 26 of file GaitGenerator.h.

orbit_type

enum rats::orbit_type

Enumerator
SHUFFLING
CYCLOID
RECTANGLE
STAIR
CYCLOIDDELAY
CYCLOIDDELAYKICK
CROSS

Definition at line 25 of file GaitGenerator.h.

stride_limitation_type

enum rats::stride_limitation_type

Enumerator
SQUARE
CIRCLE

Definition at line 27 of file GaitGenerator.h.

toe_heel_phase

enum rats::toe_heel_phase

Enumerator
SOLE0
SOLE2TOE
TOE2SOLE
SOLE1
SOLE2HEEL
HEEL2SOLE
SOLE2
NUM_TH_PHASES

Definition at line 111 of file GaitGenerator.h.

toe_heel_type

enum rats::toe_heel_type

Enumerator
SOLE
TOE
HEEL

Definition at line 115 of file GaitGenerator.h.

Function Documentation

cycloid_midpoint()

void rats::cycloid_midpoint	(	hrp::Vector3 &	ret,
		const double	ratio,
		const hrp::Vector3 &	start,
		const hrp::Vector3 &	goal,
		const double	height,
		const double	default_top_ratio
	)

Definition at line 14 of file GaitGenerator.cpp.

difference_rotation()

void rats::difference_rotation	(	hrp::Vector3 &	ret_dif_rot,
		const hrp::Matrix33 &	self_rot,
		const hrp::Matrix33 &	target_rot
	)

Definition at line 40 of file RatsMatrix.cpp.

eps_eq()

bool rats::eps_eq ( const double  a, const double  b, const double  eps = 0.001  )

inline

Definition at line 8 of file RatsMatrix.h.

leg_type_to_leg_type_string()

std::string rats::leg_type_to_leg_type_string

(

const leg_type

l_r

)

Definition at line 54 of file GaitGenerator.cpp.

matrix_log()

hrp::Vector3 rats::matrix_log

(

const hrp::Matrix33 &

m

)

Definition at line 5 of file RatsMatrix.cpp.

mid_coords()

void rats::mid_coords	(	coordinates &	mid_coords,
		const double	p,
		const coordinates &	c1,
		const coordinates &	c2,
		const double	eps
	)

Definition at line 58 of file RatsMatrix.cpp.

mid_rot()

void rats::mid_rot	(	hrp::Matrix33 &	mid_rot,
		const double	p,
		const hrp::Matrix33 &	rot1,
		const hrp::Matrix33 &	rot2,
		const double	eps
	)

Definition at line 46 of file RatsMatrix.cpp.

multi_mid_coords()

void rats::multi_mid_coords	(	coordinates &	ret,
		const std::vector< coordinates > &	cs,
		const double	eps
	)

Definition at line 37 of file GaitGenerator.cpp.

rotm3times()

void rats::rotm3times	(	hrp::Matrix33 &	m12,
		const hrp::Matrix33 &	m1,
		const hrp::Matrix33 &	m2
	)

Definition at line 31 of file RatsMatrix.cpp.

set_value_according_to_toe_heel_type()

double rats::set_value_according_to_toe_heel_type	(	const toe_heel_type	tht,
		const double	toe_value,
		const double	heel_value,
		const double	default_value
	)

Definition at line 62 of file GaitGenerator.cpp.

Variable Documentation

DEFAULT_GRAVITATIONAL_ACCELERATION

const double rats::DEFAULT_GRAVITATIONAL_ACCELERATION = 9.80665

static

Definition at line 12 of file PreviewController.h.

no_using_toe_heel_ratio

double rats::no_using_toe_heel_ratio = 1.0

static

Definition at line 112 of file GaitGenerator.h.

using_toe_heel_ratio

double rats::using_toe_heel_ratio = 0.0

static

Definition at line 113 of file GaitGenerator.h.