\doc Simulate a rigid body More...
Classes | |
| class | AnalyticalZMPCOGTrajectory |
| struct | CH_Point |
| struct | COMPosition_s |
| Structure to store the COM position computed by the preview control. More... | |
| class | ComputeConvexHull |
| struct | COMState_s |
| Structure to store the COM state computed by the preview control. More... | |
| struct | FootAbsolutePosition_t |
| Structure to store the absolute foot position. More... | |
| class | FootConstraintsAsLinearSystem |
| class | FootHalfSize |
| class | IntermedQPMat |
| Custom (value based) container providing intermediate elements for the construction of a QP. More... | |
| struct | linear_dynamics_s |
| struct | LinearConstraintInequality_s |
| struct | LinearConstraintInequalityFreeFeet_s |
| Linear constraints with variable feet placement. More... | |
| class | LinearizedInvertedPendulum2D |
| struct | ltCH_Point |
| class | OptimalControllerSolver |
| This class computes the gains for preview control for a given discrete system. The discrete system is defined by three matrix A, b, c such as : More... | |
| class | PatternGeneratorInterface |
| This class is the interface between the Pattern Generator and the external world. More... | |
| class | Polynome |
| Class for computing trajectories. More... | |
| class | Polynome3 |
| Polynome used for X,Y and Theta trajectories. More... | |
| class | Polynome4 |
| Polynome used for Z trajectory. More... | |
| class | Polynome5 |
| Polynome used for X,Y and Theta trajectories. More... | |
| class | Polynome6 |
| Polynome used for Z trajectory. More... | |
| class | PreviewControl |
| Class to implement the preview control. More... | |
| struct | ReferenceAbsoluteVelocity_t |
| Structure to store the absolute reference. More... | |
| class | RelativeFeetInequalities |
| Generate a stack of inequalities relative to feet centers for the whole preview window. More... | |
| struct | RelativeFootPosition_s |
| Structure to store each foot position when the user is specifying a sequence of relative positions. More... | |
| struct | rigid_body_state_s |
| State vectors. More... | |
| class | RigidBody |
| class | RigidBodySystem |
| class | StepOverClampedCubicSpline |
| class | StepOverPolynomeFoot |
| Polynome used for Z trajectory during stepover. More... | |
| class | StepOverPolynomeFootXtoTime |
| Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX. More... | |
| class | StepOverPolynomeFootZtoX |
| Polynome used for Z trajectory during stepover. More... | |
| class | StepOverPolynomeHip4 |
| Polynome for the hip trajectory. More... | |
| class | StepOverSpline |
| spline function calculation class to calculate cubic splines More... | |
| struct | SupportFeet_s |
| class | SupportFSM |
| Finite state machine to determine the support parameters. More... | |
| struct | ZMPPosition_s |
| Structure to store each of the ZMP value, with a given direction at a certain time. More... | |
| class | ZMPPreviewControlWithMultiBodyZMP |
| Object to generate the angle positions every 5 ms from a set of absolute foot positions. More... | |
Typedefs | |
| typedef struct COMPosition_s | COMPosition |
| typedef struct COMPosition_s | WaistState |
| typedef struct COMState_s | COMState |
| typedef struct RelativeFootPosition_s | RelativeFootPosition |
| typedef struct ZMPPosition_s | ZMPPosition |
| typedef struct FootAbsolutePosition_t | FootAbsolutePosition |
| typedef struct LinearConstraintInequality_s | LinearConstraintInequality_t |
| typedef struct LinearConstraintInequalityFreeFeet_s | LinearConstraintInequalityFreeFeet_t |
| typedef struct SupportFeet_s | SupportFeet_t |
| typedef struct ReferenceAbsoluteVelocity_t | ReferenceAbsoluteVelocity |
| typedef std::vector< CH_Point > | ConvexHullList |
| typedef struct rigid_body_state_s | rigid_body_state_t |
Dynamics matrices | |
| typedef linear_dynamics_s | linear_dynamics_t |
Functions | |
| WALK_GEN_JRL_EXPORT PatternGeneratorInterface * | patternGeneratorInterfaceFactory (CjrlHumanoidDynamicRobot *aHDR) |
| std::ostream & | operator<< (std::ostream &os, const COMPosition_s &aCp) |
| std::ostream & | operator<< (std::ostream &os, const RelativeFootPosition_s &rfp) |
| std::ostream & | operator<< (std::ostream &os, const ZMPPosition_s &zmp) |
| std::ostream & | operator<< (std::ostream &os, const FootAbsolutePosition &fap) |
| std::ostream & | operator<< (std::ostream &os, const SupportFeet_s &sf) |
| std::ostream & | operator<< (std::ostream &os, const ReferenceAbsoluteVelocity_t &rav) |
| ostream & | operator<< (ostream &os, const AnalyticalZMPCOGTrajectory &obj) |
| void | DistanceCHRep (CH_Point &s1, CH_Point &s2, double &distance1, double &distance2) |
| double | CompareCBRep (CH_Point &s1, CH_Point &s2) |
| std::ostream & | operator<< (std::ostream &o, const IntermedQPMat::objective_variant_s &r) |
Variables | |
| CH_Point | HRP2CIO_GlobalP0 |
\doc Simulate a rigid body
STL includes
Framework includes
| typedef struct COMPosition_s PatternGeneratorJRL::COMPosition |
| typedef struct COMState_s PatternGeneratorJRL::COMState |
| typedef std::vector<CH_Point> PatternGeneratorJRL::ConvexHullList |
| typedef struct FootAbsolutePosition_t PatternGeneratorJRL::FootAbsolutePosition |
| typedef struct LinearConstraintInequalityFreeFeet_s PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t |
| typedef struct RelativeFootPosition_s PatternGeneratorJRL::RelativeFootPosition |
| typedef struct rigid_body_state_s PatternGeneratorJRL::rigid_body_state_t |
| typedef struct SupportFeet_s PatternGeneratorJRL::SupportFeet_t |
| typedef struct COMPosition_s PatternGeneratorJRL::WaistState |
| typedef struct ZMPPosition_s PatternGeneratorJRL::ZMPPosition |
| std::ostream & PatternGeneratorJRL::operator<< | ( | ostream & | os, |
| const AnalyticalZMPCOGTrajectory & | obj | ||
| ) |
| std::ostream & PatternGeneratorJRL::operator<< | ( | std::ostream & | o, |
| const IntermedQPMat::objective_variant_s & | r | ||
| ) |
|
inline |
|
inline |
References PatternGeneratorJRL::FootAbsolutePosition_t::ddomega, PatternGeneratorJRL::FootAbsolutePosition_t::ddomega2, PatternGeneratorJRL::FootAbsolutePosition_t::ddtheta, PatternGeneratorJRL::FootAbsolutePosition_t::ddx, PatternGeneratorJRL::FootAbsolutePosition_t::ddy, PatternGeneratorJRL::FootAbsolutePosition_t::ddz, PatternGeneratorJRL::FootAbsolutePosition_t::domega, PatternGeneratorJRL::FootAbsolutePosition_t::domega2, PatternGeneratorJRL::FootAbsolutePosition_t::dtheta, PatternGeneratorJRL::FootAbsolutePosition_t::dx, PatternGeneratorJRL::FootAbsolutePosition_t::dy, PatternGeneratorJRL::FootAbsolutePosition_t::dz, PatternGeneratorJRL::FootAbsolutePosition_t::omega, PatternGeneratorJRL::FootAbsolutePosition_t::omega2, PatternGeneratorJRL::FootAbsolutePosition_t::stepType, PatternGeneratorJRL::FootAbsolutePosition_t::theta, PatternGeneratorJRL::FootAbsolutePosition_t::time, PatternGeneratorJRL::FootAbsolutePosition_t::x, PatternGeneratorJRL::FootAbsolutePosition_t::y, and PatternGeneratorJRL::FootAbsolutePosition_t::z.
|
inline |
|
inline |
References PatternGeneratorJRL::RelativeFootPosition_s::DeviationHipHeight, PatternGeneratorJRL::RelativeFootPosition_s::DStime, PatternGeneratorJRL::RelativeFootPosition_s::SStime, PatternGeneratorJRL::RelativeFootPosition_s::stepType, PatternGeneratorJRL::RelativeFootPosition_s::sx, PatternGeneratorJRL::RelativeFootPosition_s::sy, and PatternGeneratorJRL::RelativeFootPosition_s::theta.
|
inline |
|
inline |
| WALK_GEN_JRL_EXPORT PatternGeneratorInterface * PatternGeneratorJRL::patternGeneratorInterfaceFactory | ( | CjrlHumanoidDynamicRobot * | aHDR | ) |
Factory of Pattern generator interface.
| CH_Point PatternGeneratorJRL::HRP2CIO_GlobalP0 |