This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library. More...
#include <sot-pattern-generator/pg.h>
Public Types | |
typedef int | Dummy |
Public Member Functions | |
DYNAMIC_GRAPH_ENTITY_DECL () | |
PatternGenerator (const std::string &name="PatternGenerator") | |
Default constructor. | |
virtual | ~PatternGenerator (void) |
Default destructor. | |
void | initCommands (void) |
int | stringToReferenceEnum (const std::string &FrameReference) |
void | setReferenceFromString (const std::string &str) |
void | addOnLineStep (const double &x, const double &y, const double &th) |
void | addStep (const double &x, const double &y, const double &th) |
void | pgCommandLine (const std::string &cmdline) |
void | useFeedBackSignals (const bool &feedBack) |
void | useDynamicFilter (const bool &dynamicFilter) |
void | debug (void) |
Methods related to the data files. | |
bool | buildModel (void) |
Build the pattern generator interface from a Urdf and SRDF file. | |
bool | InitState (void) |
Initialize the state of the robot. | |
void | setPreviewControlParametersFile (const std::string &filename) |
Set the directory which contains the parameters for the preview control. | |
void | setURDFFile (const std::string &filename) |
Set the path which contains the URDF files robot's model. | |
void | setSRDFFile (const std::string &filename) |
Set the path which contains the SRDF files robot's model. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL. | |
void | setXmlRankFile (const std::string &filename) |
Set the path which contains the Joint Rank model. | |
void | setParamPreviewFile (const std::string &filename) |
Set the name of the file specifying the control parameters of the preview control. | |
void | setSoleParameters (const double &inSoleLength, const double &inSoleWidth) |
Set the foot parameters. | |
void | addJointMapping (const std::string &link, const std::string &repName) |
Set mapping between a link and actual robot name. | |
pg::PatternGeneratorInterface * | GetPatternGeneratorInterface () |
Give access directly to the pattern generator... You really have to know what your are doing. | |
Public Attributes | |
Internal signals. | |
SignalTimeDependent< Dummy, int > | firstSINTERN |
Internal signal for initialization and one shot signals. | |
SignalTimeDependent< Dummy, int > | OneStepOfControlS |
Internal signal to trigger one step of the algorithm. | |
External signals | |
SignalPtr < dynamicgraph::Vector, int > | jointPositionSIN |
Real state position values. | |
SignalPtr < dynamicgraph::Vector, int > | motorControlJointPositionSIN |
Motor control joint position values. | |
SignalPtr < dynamicgraph::Vector, int > | ZMPPreviousControllerSIN |
Previous ZMP value (ZMP send by the preceding controller). | |
SignalTimeDependent < dynamicgraph::Vector, int > | ZMPRefSOUT |
Externalize the ZMP reference . | |
SignalTimeDependent < dynamicgraph::Vector, int > | CoMRefSOUT |
Externalize the CoM reference. | |
SignalTimeDependent < dynamicgraph::Vector, int > | dCoMRefSOUT |
Externalize the CoM reference. | |
SignalPtr < dynamicgraph::Vector, int > | comSIN |
Take the current CoM. | |
SignalPtr < dynamicgraph::Vector, int > | comStateSIN |
Take the current CoM state (pos, vel, acc). | |
SignalPtr < dynamicgraph::Vector, int > | zmpSIN |
Take the current zmp (x, y, z). | |
SignalPtr < dynamicgraph::Vector, int > | forceSIN |
Take the current external force applied to the com (fx, fy, fz). | |
SignalTimeDependent < dynamicgraph::Vector, int > | forceSOUT |
dynamicgraph::Vector | m_initForce |
dynamicgraph::Vector | m_currentForces |
std::deque< dynamicgraph::Vector > | m_bufferForce |
std::vector< double > | m_filterWindow |
SignalPtr < dynamicgraph::Vector, int > | velocitydesSIN |
Take the current desired velocity. | |
SignalPtr< MatrixHomogeneous, int > | LeftFootCurrentPosSIN |
Take the current left foot homogeneous position. | |
SignalPtr< MatrixHomogeneous, int > | RightFootCurrentPosSIN |
Take the current right foot homogeneous position. | |
SignalTimeDependent < MatrixHomogeneous, int > | LeftFootRefSOUT |
Externalize the left foot position reference. | |
SignalTimeDependent < MatrixHomogeneous, int > | RightFootRefSOUT |
Externalize the right foot position reference. | |
SignalTimeDependent < MatrixHomogeneous, int > | dotLeftFootRefSOUT |
Externalize the left foot position reference. | |
SignalTimeDependent < MatrixHomogeneous, int > | dotRightFootRefSOUT |
Externalize the right foot position reference. | |
SignalTimeDependent < MatrixHomogeneous, int > | FlyingFootRefSOUT |
Externalize the foot which is not considered as support foot, the information are given in a relative referentiel. | |
SignalTimeDependent< unsigned int, int > | SupportFootSOUT |
Externalize the support foot. | |
SignalTimeDependent < dynamicgraph::Vector, int > | jointWalkingErrorPositionSOUT |
Externalize the joint values for walking. | |
SignalTimeDependent < dynamicgraph::Vector, int > | comattitudeSOUT |
Externalize the com attitude. | |
SignalTimeDependent < dynamicgraph::Vector, int > | dcomattitudeSOUT |
Externalize the dcom attitude. | |
SignalTimeDependent < VectorRollPitchYaw, int > | waistattitudeSOUT |
Externalize the waist attitude. | |
SignalTimeDependent < VectorRollPitchYaw, int > | waistattitudeabsoluteSOUT |
Externalize the absolute waist attitude. | |
SignalTimeDependent < dynamicgraph::Vector, int > | waistpositionSOUT |
Externalize the waist position. | |
SignalTimeDependent < dynamicgraph::Vector, int > | waistpositionabsoluteSOUT |
Externalize the absolute waist position. | |
SignalTimeDependent< unsigned int, int > | dataInProcessSOUT |
true iff PG is processing. Use it for synchronize. | |
SignalTimeDependent < dynamicgraph::Vector, int > | InitZMPRefSOUT |
Externalize the initial ZMP reference . | |
SignalTimeDependent < dynamicgraph::Vector, int > | InitCoMRefSOUT |
Externalize the initial CoM reference. | |
SignalTimeDependent < dynamicgraph::Vector, int > | InitWaistPosRefSOUT |
Externalize the initial Waist reference. | |
SignalTimeDependent < VectorRollPitchYaw, int > | InitWaistAttRefSOUT |
Externalize the initial Waist reference. | |
SignalTimeDependent < MatrixHomogeneous, int > | InitLeftFootRefSOUT |
Externalize the left foot position reference. | |
SignalTimeDependent < MatrixHomogeneous, int > | InitRightFootRefSOUT |
Externalize the right foot position reference. | |
SignalTimeDependent< bool, int > | leftFootContactSOUT |
Booleans for contact of the feet. | |
SignalTimeDependent< bool, int > | rightFootContactSOUT |
Static Public Attributes | |
Some constant to define the type | |
of frame reference. | |
static const int | WORLD_FRAME = 0 |
Specify that the frame is expressed in the world reference frame. | |
static const int | EGOCENTERED_FRAME = 1 |
Specify that the frame is expressed in the robot ego centered frame. | |
static const int | LEFT_FOOT_CENTERED_FRAME = 2 |
Specify that the frame is expressed in the left foot centered frame. | |
static const int | WAIST_CENTERED_FRAME = 3 |
Specify that the frame is expressed in the waist centered frame. | |
Protected Member Functions | |
unsigned int & | getSupportFoot (unsigned int &res, int time) |
Getting the current support foot: 1 Left -1 Right. | |
int & | InitOneStepOfControl (int &dummy, int time) |
Trigger the initialization of the algorithm. | |
int & | OneStepOfControl (int &dummy, int time) |
Trigger one step of the algorithm. | |
void | ParseCmdFile (std::istringstream &cmdArg, std::ostream &os) |
void | FromAbsoluteFootPosToDotHomogeneous (pg::FootAbsolutePosition aFootPosition, MatrixHomogeneous &aFootMH, MatrixHomogeneous &adotFootMH) |
Transfert from a current absolute foot position to a dot homogeneous matrix. | |
void | FromAbsoluteFootPosToHomogeneous (pg::FootAbsolutePosition aFootPosition, MatrixHomogeneous &aFootMH) |
Transfert from a current absolute foot position to a homogeneous matrix. | |
void | getAbsoluteWaistPosAttHomogeneousMatrix (MatrixHomogeneous &aWaistMH) |
Provide an homogeneous matrix from the current waist position and attitude. | |
dynamicgraph::Vector & | getInitZMPRef (dynamicgraph::Vector &res, int time) |
Internal method to get the initial reference ZMP at a given time. | |
dynamicgraph::Vector & | getInitCoMRef (dynamicgraph::Vector &res, int time) |
Internal method to get the initial reference CoM at a given time. | |
dynamicgraph::Vector & | getInitWaistPosRef (dynamicgraph::Vector &res, int time) |
Internal method to get the initial reference CoM at a given time. | |
VectorRollPitchYaw & | getInitWaistAttRef (VectorRollPitchYaw &res, int time) |
Internal method to get the initial reference CoM at a given time. | |
MatrixHomogeneous & | getInitLeftFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the left foot. | |
MatrixHomogeneous & | getInitRightFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the right foot. | |
bool & | getLeftFootContact (bool &res, int time) |
Internal method to get the information of contact or not on the feet. | |
bool & | getRightFootContact (bool &res, int time) |
MAL_VECTOR (m_ZMPPrevious, double) | |
Internal methods to access reference trajectories. | |
dynamicgraph::Vector & | getZMPRef (dynamicgraph::Vector &res, int time) |
Internal method to get the reference ZMP at a given time. | |
dynamicgraph::Vector & | getCoMRef (dynamicgraph::Vector &res, int time) |
Internal method to get the reference CoM at a given time. | |
dynamicgraph::Vector & | getdCoMRef (dynamicgraph::Vector &res, int time) |
Internal method to get the reference dCoM at a given time. | |
dynamicgraph::Vector & | getExternalForces (dynamicgraph::Vector &forces, int time) |
Internal method to get the external forces at a given time. | |
MatrixHomogeneous & | getLeftFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the left foot. | |
MatrixHomogeneous & | getRightFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the right foot. | |
MatrixHomogeneous & | getdotLeftFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the derivative of the left foot. | |
MatrixHomogeneous & | getdotRightFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the derivative of the right foot. | |
MatrixHomogeneous & | getFlyingFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the flying foot. | |
dynamicgraph::Vector & | getjointWalkingErrorPosition (dynamicgraph::Vector &res, int time) |
Internal method to get the joint position for walking. | |
dynamicgraph::Vector & | getdComAttitude (dynamicgraph::Vector &res, int time) |
Internal method to get the derivative of the com attitude. | |
dynamicgraph::Vector & | getComAttitude (dynamicgraph::Vector &res, int time) |
Internal method to get the attitude of the com. | |
VectorRollPitchYaw & | getWaistAttitude (VectorRollPitchYaw &res, int time) |
Internal method to get the attitude of the waist. | |
VectorRollPitchYaw & | getWaistAttitudeAbsolute (VectorRollPitchYaw &res, int time) |
Internal method to get the absolute attitude of the waist. | |
unsigned & | getDataInProcess (unsigned &res, int time) |
Internal method to get the dataInPorcess flag. | |
dynamicgraph::Vector & | getWaistPosition (dynamicgraph::Vector &res, int time) |
Internal method to get the position of the waist. | |
dynamicgraph::Vector & | getWaistPositionAbsolute (dynamicgraph::Vector &res, int time) |
Internal method to get the absolute position of the waist. | |
Protected Attributes | |
se3::Model | m_robotModel |
The model of the robot. | |
pg::PinocchioRobot * | m_PR |
Pointer towards the robot model inside jrl-walkgen. | |
se3::Data * | m_robotData |
The pointor toward the robot data. | |
pg::PatternGeneratorInterface * | m_PGI |
Pointer towards the interface of the pattern generator. | |
bool | m_init |
Boolean variable to initialize the object by loading an object. | |
bool | m_InitPositionByRealState |
Boolean variable to initialize the position: first through the real state of the robot, then through the motor command. | |
int | m_SupportFoot |
Integer for the support foot. | |
int | m_ReferenceFrame |
Keep the frame reference. | |
double | m_AnkleSoilDistance |
Distance between ankle and soil. | |
double | m_TimeStep |
Time step. | |
bool | m_DoubleSupportPhaseState |
Double support phase detected. | |
int | m_DSStartingTime |
unsigned int | m_LocalTime |
iteration time. | |
Fields to store name and positions of data files | |
std::string | m_PreviewControlParametersFile |
Some information related to the preview control. | |
std::string | m_urdfFile |
Directory+Name where the URDF file of the robot's model is located. | |
std::string | m_srdfFile |
Directory+Name where the SRDF file of the robot's model is located. | |
std::string | m_xmlRankFile |
Directory+Name where the Rank of the joints are notified. | |
std::vector< unsigned > | m_wrml2urdfIndex |
double | m_soleLength |
Lenght of the sole. | |
double | m_soleWidth |
Width of the sole. | |
std::map< std::string, std::string > | specialJoints_ |
Keep information computed once for each time. | |
MatrixHomogeneous | m_k_Waist_kp1 |
Rigit motion between two waist positions at the beginning of the walking and at the end of the walking. | |
MatrixHomogeneous | m_LeftFootPosition |
Absolute Position for the left and right feet. | |
MatrixHomogeneous | m_RightFootPosition |
MatrixHomogeneous | m_dotLeftFootPosition |
Absolute Derivate for the left and right feet. | |
MatrixHomogeneous | m_dotRightFootPosition |
MatrixHomogeneous | m_InitLeftFootPosition |
Initial Absolute Starting Position for the left and right feet. | |
MatrixHomogeneous | m_InitRightFootPosition |
MatrixHomogeneous | m_MotionSinceInstanciationToThisSequence |
Keep track of the motion between sequence of motions. | |
MatrixHomogeneous | m_FlyingFootPosition |
Relative Position of the flying foot. | |
dynamicgraph::Vector | m_ZMPRefPos |
Absolute position of the reference ZMP. | |
dynamicgraph::Vector | m_ComAttitude |
Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum. | |
dynamicgraph::Vector | m_dComAttitude |
Com Attitude: does not really exist apart when the robot is seen as an inverted pendulum. | |
dynamicgraph::Vector | m_COMRefPos |
Absolute position of the reference CoM. | |
dynamicgraph::Vector | m_dCOMRefPos |
Absolute position of the reference dCoM. | |
dynamicgraph::Vector | m_InitZMPRefPos |
Initial Absolute position of the reference ZMP. | |
dynamicgraph::Vector | m_InitWaistRefPos |
Initial Absolute position and attitude of the reference Waist. | |
dynamicgraph::Vector | m_InitWaistRefAtt |
dynamicgraph::Vector | m_InitCOMRefPos |
Initial Absolute position of the reference CoM. | |
dynamicgraph::Vector | m_WaistPosition |
Waist position. | |
dynamicgraph::Vector | m_WaistPositionAbsolute |
Waist position Absolute. | |
dynamicgraph::Vector | m_WaistAttitude |
Waist Attitude. | |
dynamicgraph::Vector | m_WaistAttitudeAbsolute |
Waist Attitude Absolute. | |
dynamicgraph::Vector | m_JointErrorValuesForWalking |
Joint values for walking. | |
dynamicgraph::Vector | m_VelocityReference |
Velocity reference for Herdt's PG. | |
unsigned int | m_dataInProcess |
true iff the pattern if dealing with data, false if pg is not working anymore/yet. | |
bool | m_feedBackControl |
Booleans used to indicate if feedback signals shoul be used or not. | |
bool | m_rightFootContact |
Booleans used to indicate feet contacts. | |
bool | m_leftFootContact |
This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library.
typedef int dynamicgraph::sot::PatternGenerator::Dummy |
dynamicgraph::sot::PatternGenerator::PatternGenerator | ( | const std::string & | name = "PatternGenerator" | ) |
Default constructor.
virtual dynamicgraph::sot::PatternGenerator::~PatternGenerator | ( | void | ) | [virtual] |
Default destructor.
void dynamicgraph::sot::PatternGenerator::addJointMapping | ( | const std::string & | link, |
const std::string & | repName | ||
) |
Set mapping between a link and actual robot name.
void dynamicgraph::sot::PatternGenerator::addOnLineStep | ( | const double & | x, |
const double & | y, | ||
const double & | th | ||
) |
void dynamicgraph::sot::PatternGenerator::addStep | ( | const double & | x, |
const double & | y, | ||
const double & | th | ||
) |
bool dynamicgraph::sot::PatternGenerator::buildModel | ( | void | ) |
Build the pattern generator interface from a Urdf and SRDF file.
void dynamicgraph::sot::PatternGenerator::debug | ( | void | ) |
dynamicgraph::sot::PatternGenerator::DYNAMIC_GRAPH_ENTITY_DECL | ( | ) |
Class name
void dynamicgraph::sot::PatternGenerator::FromAbsoluteFootPosToDotHomogeneous | ( | pg::FootAbsolutePosition | aFootPosition, |
MatrixHomogeneous & | aFootMH, | ||
MatrixHomogeneous & | adotFootMH | ||
) | [protected] |
Transfert from a current absolute foot position to a dot homogeneous matrix.
void dynamicgraph::sot::PatternGenerator::FromAbsoluteFootPosToHomogeneous | ( | pg::FootAbsolutePosition | aFootPosition, |
MatrixHomogeneous & | aFootMH | ||
) | [protected] |
Transfert from a current absolute foot position to a homogeneous matrix.
void dynamicgraph::sot::PatternGenerator::getAbsoluteWaistPosAttHomogeneousMatrix | ( | MatrixHomogeneous & | aWaistMH | ) | [protected] |
Provide an homogeneous matrix from the current waist position and attitude.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getComAttitude | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the attitude of the com.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getCoMRef | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the reference CoM at a given time.
unsigned& dynamicgraph::sot::PatternGenerator::getDataInProcess | ( | unsigned & | res, |
int | time | ||
) | [protected] |
Internal method to get the dataInPorcess flag.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getdComAttitude | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the derivative of the com attitude.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getdCoMRef | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the reference dCoM at a given time.
MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getdotLeftFootRef | ( | MatrixHomogeneous & | res, |
int | time | ||
) | [protected] |
Internal method to get the derivative of the left foot.
MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getdotRightFootRef | ( | MatrixHomogeneous & | res, |
int | time | ||
) | [protected] |
Internal method to get the derivative of the right foot.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getExternalForces | ( | dynamicgraph::Vector & | forces, |
int | time | ||
) | [protected] |
Internal method to get the external forces at a given time.
MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getFlyingFootRef | ( | MatrixHomogeneous & | res, |
int | time | ||
) | [protected] |
Internal method to get the position of the flying foot.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitCoMRef | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the initial reference CoM at a given time.
MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getInitLeftFootRef | ( | MatrixHomogeneous & | res, |
int | time | ||
) | [protected] |
Internal method to get the position of the left foot.
MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getInitRightFootRef | ( | MatrixHomogeneous & | res, |
int | time | ||
) | [protected] |
Internal method to get the position of the right foot.
VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getInitWaistAttRef | ( | VectorRollPitchYaw & | res, |
int | time | ||
) | [protected] |
Internal method to get the initial reference CoM at a given time.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitWaistPosRef | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the initial reference CoM at a given time.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitZMPRef | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the initial reference ZMP at a given time.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getjointWalkingErrorPosition | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the joint position for walking.
bool& dynamicgraph::sot::PatternGenerator::getLeftFootContact | ( | bool & | res, |
int | time | ||
) | [protected] |
Internal method to get the information of contact or not on the feet.
MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getLeftFootRef | ( | MatrixHomogeneous & | res, |
int | time | ||
) | [protected] |
Internal method to get the position of the left foot.
pg::PatternGeneratorInterface* dynamicgraph::sot::PatternGenerator::GetPatternGeneratorInterface | ( | ) | [inline] |
Give access directly to the pattern generator... You really have to know what your are doing.
bool& dynamicgraph::sot::PatternGenerator::getRightFootContact | ( | bool & | res, |
int | time | ||
) | [protected] |
MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getRightFootRef | ( | MatrixHomogeneous & | res, |
int | time | ||
) | [protected] |
Internal method to get the position of the right foot.
unsigned int& dynamicgraph::sot::PatternGenerator::getSupportFoot | ( | unsigned int & | res, |
int | time | ||
) | [protected] |
Getting the current support foot: 1 Left -1 Right.
VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getWaistAttitude | ( | VectorRollPitchYaw & | res, |
int | time | ||
) | [protected] |
Internal method to get the attitude of the waist.
VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getWaistAttitudeAbsolute | ( | VectorRollPitchYaw & | res, |
int | time | ||
) | [protected] |
Internal method to get the absolute attitude of the waist.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getWaistPosition | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the position of the waist.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getWaistPositionAbsolute | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the absolute position of the waist.
dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getZMPRef | ( | dynamicgraph::Vector & | res, |
int | time | ||
) | [protected] |
Internal method to get the reference ZMP at a given time.
void dynamicgraph::sot::PatternGenerator::initCommands | ( | void | ) |
int& dynamicgraph::sot::PatternGenerator::InitOneStepOfControl | ( | int & | dummy, |
int | time | ||
) | [protected] |
Trigger the initialization of the algorithm.
bool dynamicgraph::sot::PatternGenerator::InitState | ( | void | ) |
Initialize the state of the robot.
dynamicgraph::sot::PatternGenerator::MAL_VECTOR | ( | m_ZMPPrevious | , |
double | |||
) | [protected] |
Storing the previous ZMP value.
int& dynamicgraph::sot::PatternGenerator::OneStepOfControl | ( | int & | dummy, |
int | time | ||
) | [protected] |
Trigger one step of the algorithm.
void dynamicgraph::sot::PatternGenerator::ParseCmdFile | ( | std::istringstream & | cmdArg, |
std::ostream & | os | ||
) | [protected] |
Parsing a file of command by the walking pattern generator interface.
void dynamicgraph::sot::PatternGenerator::pgCommandLine | ( | const std::string & | cmdline | ) |
void dynamicgraph::sot::PatternGenerator::setParamPreviewFile | ( | const std::string & | filename | ) |
Set the name of the file specifying the control parameters of the preview control.
void dynamicgraph::sot::PatternGenerator::setPreviewControlParametersFile | ( | const std::string & | filename | ) |
Set the directory which contains the parameters for the preview control.
void dynamicgraph::sot::PatternGenerator::setReferenceFromString | ( | const std::string & | str | ) |
void dynamicgraph::sot::PatternGenerator::setSoleParameters | ( | const double & | inSoleLength, |
const double & | inSoleWidth | ||
) |
Set the foot parameters.
void dynamicgraph::sot::PatternGenerator::setSRDFFile | ( | const std::string & | filename | ) |
Set the path which contains the SRDF files robot's model. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL.
void dynamicgraph::sot::PatternGenerator::setURDFFile | ( | const std::string & | filename | ) |
Set the path which contains the URDF files robot's model.
void dynamicgraph::sot::PatternGenerator::setXmlRankFile | ( | const std::string & | filename | ) |
Set the path which contains the Joint Rank model.
int dynamicgraph::sot::PatternGenerator::stringToReferenceEnum | ( | const std::string & | FrameReference | ) |
void dynamicgraph::sot::PatternGenerator::useDynamicFilter | ( | const bool & | dynamicFilter | ) |
void dynamicgraph::sot::PatternGenerator::useFeedBackSignals | ( | const bool & | feedBack | ) |
Externalize the com attitude.
Externalize the CoM reference.
Take the current CoM.
Take the current CoM state (pos, vel, acc).
SignalTimeDependent<unsigned int,int> dynamicgraph::sot::PatternGenerator::dataInProcessSOUT |
true iff PG is processing. Use it for synchronize.
Externalize the dcom attitude.
Externalize the CoM reference.
Externalize the left foot position reference.
Externalize the right foot position reference.
const int dynamicgraph::sot::PatternGenerator::EGOCENTERED_FRAME = 1 [static] |
Specify that the frame is expressed in the robot ego centered frame.
Internal signal for initialization and one shot signals.
Externalize the foot which is not considered as support foot, the information are given in a relative referentiel.
Take the current external force applied to the com (fx, fy, fz).
Externalize the initial CoM reference.
Externalize the left foot position reference.
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::InitRightFootRefSOUT |
Externalize the right foot position reference.
SignalTimeDependent<VectorRollPitchYaw,int> dynamicgraph::sot::PatternGenerator::InitWaistAttRefSOUT |
Externalize the initial Waist reference.
SignalTimeDependent<dynamicgraph::Vector,int> dynamicgraph::sot::PatternGenerator::InitWaistPosRefSOUT |
Externalize the initial Waist reference.
Externalize the initial ZMP reference .
Real state position values.
SignalTimeDependent<dynamicgraph::Vector,int> dynamicgraph::sot::PatternGenerator::jointWalkingErrorPositionSOUT |
Externalize the joint values for walking.
const int dynamicgraph::sot::PatternGenerator::LEFT_FOOT_CENTERED_FRAME = 2 [static] |
Specify that the frame is expressed in the left foot centered frame.
Booleans for contact of the feet.
Take the current left foot homogeneous position.
Externalize the left foot position reference.
double dynamicgraph::sot::PatternGenerator::m_AnkleSoilDistance [protected] |
Distance between ankle and soil.
Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum.
Absolute position of the reference CoM.
unsigned int dynamicgraph::sot::PatternGenerator::m_dataInProcess [protected] |
true iff the pattern if dealing with data, false if pg is not working anymore/yet.
Com Attitude: does not really exist apart when the robot is seen as an inverted pendulum.
Absolute position of the reference dCoM.
Absolute Derivate for the left and right feet.
bool dynamicgraph::sot::PatternGenerator::m_DoubleSupportPhaseState [protected] |
Double support phase detected.
int dynamicgraph::sot::PatternGenerator::m_DSStartingTime [protected] |
bool dynamicgraph::sot::PatternGenerator::m_feedBackControl [protected] |
Booleans used to indicate if feedback signals shoul be used or not.
std::vector<double> dynamicgraph::sot::PatternGenerator::m_filterWindow |
Relative Position of the flying foot.
bool dynamicgraph::sot::PatternGenerator::m_init [protected] |
Boolean variable to initialize the object by loading an object.
Initial Absolute position of the reference CoM.
Initial Absolute Starting Position for the left and right feet.
bool dynamicgraph::sot::PatternGenerator::m_InitPositionByRealState [protected] |
Boolean variable to initialize the position: first through the real state of the robot, then through the motor command.
Initial Absolute position and attitude of the reference Waist.
Initial Absolute position of the reference ZMP.
Joint values for walking.
Rigit motion between two waist positions at the beginning of the walking and at the end of the walking.
bool dynamicgraph::sot::PatternGenerator::m_leftFootContact [protected] |
Absolute Position for the left and right feet.
unsigned int dynamicgraph::sot::PatternGenerator::m_LocalTime [protected] |
iteration time.
MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_MotionSinceInstanciationToThisSequence [protected] |
Keep track of the motion between sequence of motions.
pg::PatternGeneratorInterface* dynamicgraph::sot::PatternGenerator::m_PGI [protected] |
Pointer towards the interface of the pattern generator.
pg::PinocchioRobot* dynamicgraph::sot::PatternGenerator::m_PR [protected] |
Pointer towards the robot model inside jrl-walkgen.
std::string dynamicgraph::sot::PatternGenerator::m_PreviewControlParametersFile [protected] |
Some information related to the preview control.
int dynamicgraph::sot::PatternGenerator::m_ReferenceFrame [protected] |
Keep the frame reference.
bool dynamicgraph::sot::PatternGenerator::m_rightFootContact [protected] |
Booleans used to indicate feet contacts.
se3::Data* dynamicgraph::sot::PatternGenerator::m_robotData [protected] |
The pointor toward the robot data.
se3::Model dynamicgraph::sot::PatternGenerator::m_robotModel [protected] |
The model of the robot.
double dynamicgraph::sot::PatternGenerator::m_soleLength [protected] |
Lenght of the sole.
double dynamicgraph::sot::PatternGenerator::m_soleWidth [protected] |
Width of the sole.
std::string dynamicgraph::sot::PatternGenerator::m_srdfFile [protected] |
Directory+Name where the SRDF file of the robot's model is located.
int dynamicgraph::sot::PatternGenerator::m_SupportFoot [protected] |
Integer for the support foot.
double dynamicgraph::sot::PatternGenerator::m_TimeStep [protected] |
Time step.
std::string dynamicgraph::sot::PatternGenerator::m_urdfFile [protected] |
Directory+Name where the URDF file of the robot's model is located.
Velocity reference for Herdt's PG.
Waist Attitude.
Waist Attitude Absolute.
Waist position.
Waist position Absolute.
std::vector<unsigned> dynamicgraph::sot::PatternGenerator::m_wrml2urdfIndex [protected] |
std::string dynamicgraph::sot::PatternGenerator::m_xmlRankFile [protected] |
Directory+Name where the Rank of the joints are notified.
Absolute position of the reference ZMP.
SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::PatternGenerator::motorControlJointPositionSIN |
Motor control joint position values.
Internal signal to trigger one step of the algorithm.
Take the current right foot homogeneous position.
Externalize the right foot position reference.
std::map<std::string, std::string> dynamicgraph::sot::PatternGenerator::specialJoints_ [protected] |
SignalTimeDependent<unsigned int,int> dynamicgraph::sot::PatternGenerator::SupportFootSOUT |
Externalize the support foot.
Take the current desired velocity.
const int dynamicgraph::sot::PatternGenerator::WAIST_CENTERED_FRAME = 3 [static] |
Specify that the frame is expressed in the waist centered frame.
SignalTimeDependent<VectorRollPitchYaw,int> dynamicgraph::sot::PatternGenerator::waistattitudeabsoluteSOUT |
Externalize the absolute waist attitude.
Externalize the waist attitude.
SignalTimeDependent<dynamicgraph::Vector,int> dynamicgraph::sot::PatternGenerator::waistpositionabsoluteSOUT |
Externalize the absolute waist position.
SignalTimeDependent<dynamicgraph::Vector,int> dynamicgraph::sot::PatternGenerator::waistpositionSOUT |
Externalize the waist position.
const int dynamicgraph::sot::PatternGenerator::WORLD_FRAME = 0 [static] |
Specify that the frame is expressed in the world reference frame.
Previous ZMP value (ZMP send by the preceding controller).
Externalize the ZMP reference .
Take the current zmp (x, y, z).