PatternGeneratorJRL Namespace Reference

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 :

\begin{eqnarray*} {\bf x}_{k+1} & =& {\bf A} x_k + {\bf b} u_k \\ p_k &=& {\bf cx}_k\\ \end{eqnarray*}

. 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_PointConvexHullList
 
typedef struct rigid_body_state_s rigid_body_state_t
 
Dynamics matrices
typedef linear_dynamics_s linear_dynamics_t
 

Functions

WALK_GEN_JRL_EXPORT PatternGeneratorInterfacepatternGeneratorInterfaceFactory (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
 

Detailed Description

Simulate a rigid body

STL includes
Framework includes

Typedef Documentation

◆ COMPosition

◆ COMState

◆ ConvexHullList

◆ FootAbsolutePosition

◆ linear_dynamics_t

◆ LinearConstraintInequality_t

◆ LinearConstraintInequalityFreeFeet_t

◆ ReferenceAbsoluteVelocity

◆ RelativeFootPosition

◆ rigid_body_state_t

◆ SupportFeet_t

◆ WaistState

◆ ZMPPosition

Function Documentation

◆ CompareCBRep()

◆ DistanceCHRep()

void PatternGeneratorJRL::DistanceCHRep ( CH_Point s1,
CH_Point s2,
double &  distance1,
double &  distance2 
)

◆ operator<<() [1/8]

◆ operator<<() [2/8]

◆ operator<<() [3/8]

◆ operator<<() [4/8]

◆ operator<<() [5/8]

std::ostream& PatternGeneratorJRL::operator<< ( std::ostream &  o,
const IntermedQPMat::objective_variant_s r 
)

◆ operator<<() [6/8]

◆ operator<<() [7/8]

◆ operator<<() [8/8]

◆ patternGeneratorInterfaceFactory()

WALK_GEN_JRL_EXPORT PatternGeneratorInterface* PatternGeneratorJRL::patternGeneratorInterfaceFactory ( CjrlHumanoidDynamicRobot aHDR)

Factory of Pattern generator interface.

Variable Documentation

◆ HRP2CIO_GlobalP0