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 |
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typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command *> | CommandMap_t |
Public Member Functions | |
DYNAMIC_GRAPH_ENTITY_DECL () | |
PatternGenerator (const std::string &name="PatternGenerator") | |
Default constructor. More... | |
virtual | ~PatternGenerator (void) |
Default destructor. More... | |
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 | debug (void) |
Methods related to the data files. | |
bool | buildModel (void) |
Build the pattern generator interface. More... | |
bool | buildModelUrdf (void) |
Build the pattern generator interface from a Urdf file. More... | |
bool | InitState (void) |
Initialize the state of the robot. More... | |
void | setPreviewControlParametersFile (const std::string &filename) |
Set the directory which contains the parameters for the preview control. More... | |
void | setVrmlDirectory (const std::string &filename) |
Set the directory which contains the VRML files robot's model. More... | |
void | setVrmlMainFile (const std::string &filename) |
Set the name of the VRML file. More... | |
void | setXmlSpecificitiesFile (const std::string &filename) |
Set the name of the file specifying a semantic to the joints. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL. More... | |
void | setXmlRankFile (const std::string &filename) |
Set the name of the file specifying the rank of the joints in the state vector. More... | |
void | setParamPreviewFile (const std::string &filename) |
Set the name of the file specifying the control parameters of the preview control. More... | |
void | setUrdfDirectory (const std::string &filename) |
Set the directory which contains the urdf files robot's model. More... | |
void | setUrdfMainFile (const std::string &filename) |
Set the name of the urdf file. More... | |
void | setSoleParameters (const double &inSoleLength, const double &inSoleWidth) |
Set the foot parameters. More... | |
void | addJointMapping (const std::string &link, const std::string &repName) |
Set mapping between a link and actual robot name. More... | |
pg::PatternGeneratorInterface * | GetPatternGeneratorInterface () |
Give access directly to the pattern generator... You really have to know what your are doing. More... | |
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Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () const |
virtual const std::string & | getClassName () const=0 |
virtual std::string | getDocString () const |
bool | hasSignal (const std::string &signame) const |
SignalBase< int > & | getSignal (const std::string &signalName) |
const SignalBase< int > & | getSignal (const std::string &signalName) const |
std::ostream & | displaySignalList (std::ostream &os) const |
virtual std::ostream & | writeGraph (std::ostream &os) const |
virtual std::ostream & | writeCompletionList (std::ostream &os) const |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
virtual SignalBase< int > * | test () |
virtual void | test2 (SignalBase< int > *) |
const std::string & | getCommandList () const |
CommandMap_t | getNewStyleCommandMap () |
command::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () const |
Public Attributes | |
Internal signals. | |
SignalTimeDependent< Dummy, int > | firstSINTERN |
Internal signal for initialization and one shot signals. More... | |
SignalTimeDependent< Dummy, int > | OneStepOfControlS |
Internal signal to trigger one step of the algorithm. More... | |
External signals | |
SignalPtr< ml::Vector, int > | jointPositionSIN |
Real state position values. More... | |
SignalPtr< ml::Vector, int > | motorControlJointPositionSIN |
Motor control joint position values. More... | |
SignalPtr< ml::Vector, int > | ZMPPreviousControllerSIN |
Previous ZMP value (ZMP send by the preceding controller). More... | |
SignalTimeDependent< ml::Vector, int > | ZMPRefSOUT |
Externalize the ZMP reference . More... | |
SignalTimeDependent< ml::Vector, int > | CoMRefSOUT |
Externalize the CoM reference. More... | |
SignalTimeDependent< ml::Vector, int > | dCoMRefSOUT |
Externalize the CoM reference. More... | |
SignalPtr< ml::Vector, int > | comSIN |
Take the current CoM. More... | |
SignalPtr< ml::Vector, int > | velocitydesSIN |
Take the current desired velocity. More... | |
SignalPtr< MatrixHomogeneous, int > | LeftFootCurrentPosSIN |
Take the current left foot homogeneous position. More... | |
SignalPtr< MatrixHomogeneous, int > | RightFootCurrentPosSIN |
Take the current right foot homogeneous position. More... | |
SignalTimeDependent< MatrixHomogeneous, int > | LeftFootRefSOUT |
Externalize the left foot position reference. More... | |
SignalTimeDependent< MatrixHomogeneous, int > | RightFootRefSOUT |
Externalize the right foot position reference. More... | |
SignalTimeDependent< MatrixHomogeneous, int > | dotLeftFootRefSOUT |
Externalize the left foot position reference. More... | |
SignalTimeDependent< MatrixHomogeneous, int > | dotRightFootRefSOUT |
Externalize the right foot position reference. More... | |
SignalTimeDependent< MatrixHomogeneous, int > | FlyingFootRefSOUT |
Externalize the foot which is not considered as support foot, the information are given in a relative referentiel. More... | |
SignalTimeDependent< unsigned int, int > | SupportFootSOUT |
Externalize the support foot. More... | |
SignalTimeDependent< ml::Vector, int > | jointWalkingErrorPositionSOUT |
Externalize the joint values for walking. More... | |
SignalTimeDependent< VectorRollPitchYaw, int > | comattitudeSOUT |
Externalize the com attitude. More... | |
SignalTimeDependent< VectorRollPitchYaw, int > | dcomattitudeSOUT |
Externalize the dcom attitude. More... | |
SignalTimeDependent< VectorRollPitchYaw, int > | waistattitudeSOUT |
Externalize the waist attitude. More... | |
SignalTimeDependent< VectorRollPitchYaw, int > | waistattitudeabsoluteSOUT |
Externalize the absolute waist attitude. More... | |
SignalTimeDependent< ml::Vector, int > | waistpositionSOUT |
Externalize the waist position. More... | |
SignalTimeDependent< ml::Vector, int > | waistpositionabsoluteSOUT |
Externalize the absolute waist position. More... | |
SignalTimeDependent< unsigned int, int > | dataInProcessSOUT |
true iff PG is processing. Use it for synchronize. More... | |
SignalTimeDependent< ml::Vector, int > | InitZMPRefSOUT |
Externalize the initial ZMP reference . More... | |
SignalTimeDependent< ml::Vector, int > | InitCoMRefSOUT |
Externalize the initial CoM reference. More... | |
SignalTimeDependent< ml::Vector, int > | InitWaistPosRefSOUT |
Externalize the initial Waist reference. More... | |
SignalTimeDependent< VectorRollPitchYaw, int > | InitWaistAttRefSOUT |
Externalize the initial Waist reference. More... | |
SignalTimeDependent< MatrixHomogeneous, int > | InitLeftFootRefSOUT |
Externalize the left foot position reference. More... | |
SignalTimeDependent< MatrixHomogeneous, int > | InitRightFootRefSOUT |
Externalize the right foot position reference. More... | |
SignalTimeDependent< bool, int > | leftFootContactSOUT |
Booleans for contact of the feet. More... | |
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. More... | |
static const int | EGOCENTERED_FRAME = 1 |
Specify that the frame is expressed in the robot ego centered frame. More... | |
static const int | LEFT_FOOT_CENTERED_FRAME = 2 |
Specify that the frame is expressed in the left foot centered frame. More... | |
static const int | WAIST_CENTERED_FRAME = 3 |
Specify that the frame is expressed in the waist centered frame. More... | |
Protected Member Functions | |
unsigned int & | getSupportFoot (unsigned int &res, int time) |
Getting the current support foot: 1 Left -1 Right. More... | |
int & | InitOneStepOfControl (int &dummy, int time) |
Trigger the initialization of the algorithm. More... | |
int & | OneStepOfControl (int &dummy, int time) |
Trigger one step of the algorithm. More... | |
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. More... | |
void | FromAbsoluteFootPosToHomogeneous (pg::FootAbsolutePosition aFootPosition, MatrixHomogeneous &aFootMH) |
Transfert from a current absolute foot position to a homogeneous matrix. More... | |
void | getAbsoluteWaistPosAttHomogeneousMatrix (MatrixHomogeneous &aWaistMH) |
Provide an homogeneous matrix from the current waist position and attitude. More... | |
ml::Vector & | getInitZMPRef (ml::Vector &res, int time) |
Internal method to get the initial reference ZMP at a given time. More... | |
ml::Vector & | getInitCoMRef (ml::Vector &res, int time) |
Internal method to get the initial reference CoM at a given time. More... | |
ml::Vector & | getInitWaistPosRef (ml::Vector &res, int time) |
Internal method to get the initial reference CoM at a given time. More... | |
VectorRollPitchYaw & | getInitWaistAttRef (VectorRollPitchYaw &res, int time) |
Internal method to get the initial reference CoM at a given time. More... | |
MatrixHomogeneous & | getInitLeftFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the left foot. More... | |
MatrixHomogeneous & | getInitRightFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the right foot. More... | |
bool & | getLeftFootContact (bool &res, int time) |
Internal method to get the information of contact or not on the feet. More... | |
bool & | getRightFootContact (bool &res, int time) |
MAL_VECTOR (m_ZMPPrevious, double) | |
Internal methods to access reference trajectories. | |
ml::Vector & | getZMPRef (ml::Vector &res, int time) |
Internal method to get the reference ZMP at a given time. More... | |
ml::Vector & | getCoMRef (ml::Vector &res, int time) |
Internal method to get the reference CoM at a given time. More... | |
ml::Vector & | getdCoMRef (ml::Vector &res, int time) |
Internal method to get the reference dCoM at a given time. More... | |
MatrixHomogeneous & | getLeftFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the left foot. More... | |
MatrixHomogeneous & | getRightFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the right foot. More... | |
MatrixHomogeneous & | getdotLeftFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the derivative of the left foot. More... | |
MatrixHomogeneous & | getdotRightFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the derivative of the right foot. More... | |
MatrixHomogeneous & | getFlyingFootRef (MatrixHomogeneous &res, int time) |
Internal method to get the position of the flying foot. More... | |
ml::Vector & | getjointWalkingErrorPosition (ml::Vector &res, int time) |
Internal method to get the joint position for walking. More... | |
VectorRollPitchYaw & | getdComAttitude (VectorRollPitchYaw &res, int time) |
Internal method to get the derivative of the com attitude. More... | |
VectorRollPitchYaw & | getComAttitude (VectorRollPitchYaw &res, int time) |
Internal method to get the attitude of the com. More... | |
VectorRollPitchYaw & | getWaistAttitude (VectorRollPitchYaw &res, int time) |
Internal method to get the attitude of the waist. More... | |
VectorRollPitchYaw & | getWaistAttitudeAbsolute (VectorRollPitchYaw &res, int time) |
Internal method to get the absolute attitude of the waist. More... | |
unsigned & | getDataInProcess (unsigned &res, int time) |
Internal method to get the dataInPorcess flag. More... | |
ml::Vector & | getWaistPosition (ml::Vector &res, int time) |
Internal method to get the position of the waist. More... | |
ml::Vector & | getWaistPositionAbsolute (ml::Vector &res, int time) |
Internal method to get the absolute position of the waist. More... | |
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void | addCommand (const std::string &name, command::Command *command) |
void | entityRegistration () |
void | entityDeregistration () |
void | signalRegistration (const SignalArray< int > &signals) |
void | signalDeregistration (const std::string &name) |
Protected Attributes | |
pg::PatternGeneratorInterface * | m_PGI |
Pointer towards the interface of the pattern generator. More... | |
bool | m_init |
Boolean variable to initialize the object by loading an object. More... | |
bool | m_InitPositionByRealState |
Boolean variable to initialize the position: first through the real state of the robot, then through the motor command. More... | |
int | m_SupportFoot |
Integer for the support foot. More... | |
int | m_ReferenceFrame |
Keep the frame reference. More... | |
double | m_AnkleSoilDistance |
Distance between ankle and soil. More... | |
double | m_TimeStep |
Time step. More... | |
bool | m_DoubleSupportPhaseState |
Double support phase detected. More... | |
int | m_DSStartingTime |
unsigned int | m_LocalTime |
iteration time. More... | |
Fields to store name and positions of data files | |
std::string | m_PreviewControlParametersFile |
Some information related to the preview control. More... | |
std::string | m_vrmlDirectory |
Directory where the VRML file of the robot's model is located. More... | |
std::string | m_vrmlMainFile |
Name of the VRML file which containes the robot's model. More... | |
std::string | m_xmlSpecificitiesFile |
Name of the XML file which contains humanoid specific informations. More... | |
std::string | m_xmlRankFile |
Name of the XML file which specificies the rank of the Joints in the state vector. More... | |
std::string | m_urdfDirectory |
Directory where the VRML file of the robot's model is located. More... | |
std::string | m_urdfMainFile |
Name of the VRML file which containes the robot's model. More... | |
double | m_soleLength |
Lenght of the sole. More... | |
double | m_soleWidth |
Width of the sole. More... | |
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. More... | |
MatrixHomogeneous | m_LeftFootPosition |
Absolute Position for the left and right feet. More... | |
MatrixHomogeneous | m_RightFootPosition |
MatrixHomogeneous | m_dotLeftFootPosition |
Absolute Derivate for the left and right feet. More... | |
MatrixHomogeneous | m_dotRightFootPosition |
MatrixHomogeneous | m_InitLeftFootPosition |
Initial Absolute Starting Position for the left and right feet. More... | |
MatrixHomogeneous | m_InitRightFootPosition |
MatrixHomogeneous | m_MotionSinceInstanciationToThisSequence |
Keep track of the motion between sequence of motions. More... | |
MatrixHomogeneous | m_FlyingFootPosition |
Relative Position of the flying foot. More... | |
ml::Vector | m_ZMPRefPos |
Absolute position of the reference ZMP. More... | |
ml::Vector | m_ComAttitude |
Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum. More... | |
ml::Vector | m_dComAttitude |
Com Attitude: does not really exist apart when the robot is seen as an inverted pendulum. More... | |
ml::Vector | m_COMRefPos |
Absolute position of the reference CoM. More... | |
ml::Vector | m_dCOMRefPos |
Absolute position of the reference dCoM. More... | |
ml::Vector | m_InitZMPRefPos |
Initial Absolute position of the reference ZMP. More... | |
ml::Vector | m_InitWaistRefPos |
Initial Absolute position and attitude of the reference Waist. More... | |
ml::Vector | m_InitWaistRefAtt |
ml::Vector | m_InitCOMRefPos |
Initial Absolute position of the reference CoM. More... | |
ml::Vector | m_WaistPosition |
Waist position. More... | |
ml::Vector | m_WaistPositionAbsolute |
Waist position Absolute. More... | |
ml::Vector | m_WaistAttitude |
Waist Attitude. More... | |
ml::Vector | m_WaistAttitudeAbsolute |
Waist Attitude Absolute. More... | |
ml::Vector | m_JointErrorValuesForWalking |
Joint values for walking. More... | |
ml::Vector | m_VelocityReference |
Velocity reference for Herdt's PG. More... | |
unsigned int | m_dataInProcess |
true iff the pattern if dealing with data, false if pg is not working anymore/yet. More... | |
bool | m_rightFootContact |
Booleans used to indicate feet contacts. More... | |
bool | m_leftFootContact |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
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.
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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.
bool dynamicgraph::sot::PatternGenerator::buildModelUrdf | ( | void | ) |
Build the pattern generator interface from a Urdf file.
void dynamicgraph::sot::PatternGenerator::debug | ( | void | ) |
dynamicgraph::sot::PatternGenerator::DYNAMIC_GRAPH_ENTITY_DECL | ( | ) |
Class name
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protected |
Transfert from a current absolute foot position to a dot homogeneous matrix.
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protected |
Transfert from a current absolute foot position to a homogeneous matrix.
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protected |
Provide an homogeneous matrix from the current waist position and attitude.
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protected |
Internal method to get the attitude of the com.
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protected |
Internal method to get the reference CoM at a given time.
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protected |
Internal method to get the dataInPorcess flag.
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protected |
Internal method to get the derivative of the com attitude.
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protected |
Internal method to get the reference dCoM at a given time.
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protected |
Internal method to get the derivative of the left foot.
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protected |
Internal method to get the derivative of the right foot.
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protected |
Internal method to get the position of the flying foot.
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protected |
Internal method to get the initial reference CoM at a given time.
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protected |
Internal method to get the position of the left foot.
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protected |
Internal method to get the position of the right foot.
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protected |
Internal method to get the initial reference CoM at a given time.
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protected |
Internal method to get the initial reference CoM at a given time.
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protected |
Internal method to get the initial reference ZMP at a given time.
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protected |
Internal method to get the joint position for walking.
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protected |
Internal method to get the information of contact or not on the feet.
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protected |
Internal method to get the position of the left foot.
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inline |
Give access directly to the pattern generator... You really have to know what your are doing.
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protected |
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protected |
Internal method to get the position of the right foot.
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protected |
Getting the current support foot: 1 Left -1 Right.
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protected |
Internal method to get the attitude of the waist.
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protected |
Internal method to get the absolute attitude of the waist.
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protected |
Internal method to get the position of the waist.
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protected |
Internal method to get the absolute position of the waist.
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protected |
Internal method to get the reference ZMP at a given time.
void dynamicgraph::sot::PatternGenerator::initCommands | ( | void | ) |
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protected |
Trigger the initialization of the algorithm.
bool dynamicgraph::sot::PatternGenerator::InitState | ( | void | ) |
Initialize the state of the robot.
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protected |
Storing the previous ZMP value.
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protected |
Trigger one step of the algorithm.
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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::setUrdfDirectory | ( | const std::string & | filename | ) |
Set the directory which contains the urdf files robot's model.
void dynamicgraph::sot::PatternGenerator::setUrdfMainFile | ( | const std::string & | filename | ) |
Set the name of the urdf file.
void dynamicgraph::sot::PatternGenerator::setVrmlDirectory | ( | const std::string & | filename | ) |
Set the directory which contains the VRML files robot's model.
void dynamicgraph::sot::PatternGenerator::setVrmlMainFile | ( | const std::string & | filename | ) |
Set the name of the VRML file.
void dynamicgraph::sot::PatternGenerator::setXmlRankFile | ( | const std::string & | filename | ) |
Set the name of the file specifying the rank of the joints in the state vector.
void dynamicgraph::sot::PatternGenerator::setXmlSpecificitiesFile | ( | const std::string & | filename | ) |
Set the name of the file specifying a semantic to the joints. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL.
int dynamicgraph::sot::PatternGenerator::stringToReferenceEnum | ( | const std::string & | FrameReference | ) |
SignalTimeDependent<VectorRollPitchYaw,int> dynamicgraph::sot::PatternGenerator::comattitudeSOUT |
Externalize the com attitude.
SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::PatternGenerator::CoMRefSOUT |
Externalize the CoM reference.
SignalPtr<ml::Vector,int> dynamicgraph::sot::PatternGenerator::comSIN |
Take the current CoM.
SignalTimeDependent<unsigned int,int> dynamicgraph::sot::PatternGenerator::dataInProcessSOUT |
true iff PG is processing. Use it for synchronize.
SignalTimeDependent<VectorRollPitchYaw,int> dynamicgraph::sot::PatternGenerator::dcomattitudeSOUT |
Externalize the dcom attitude.
SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::PatternGenerator::dCoMRefSOUT |
Externalize the CoM reference.
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::dotLeftFootRefSOUT |
Externalize the left foot position reference.
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::dotRightFootRefSOUT |
Externalize the right foot position reference.
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static |
Specify that the frame is expressed in the robot ego centered frame.
SignalTimeDependent<Dummy,int> dynamicgraph::sot::PatternGenerator::firstSINTERN |
Internal signal for initialization and one shot signals.
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::FlyingFootRefSOUT |
Externalize the foot which is not considered as support foot, the information are given in a relative referentiel.
SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::PatternGenerator::InitCoMRefSOUT |
Externalize the initial CoM reference.
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::InitLeftFootRefSOUT |
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<ml::Vector,int> dynamicgraph::sot::PatternGenerator::InitWaistPosRefSOUT |
Externalize the initial Waist reference.
SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::PatternGenerator::InitZMPRefSOUT |
Externalize the initial ZMP reference .
SignalPtr<ml::Vector,int> dynamicgraph::sot::PatternGenerator::jointPositionSIN |
Real state position values.
SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::PatternGenerator::jointWalkingErrorPositionSOUT |
Externalize the joint values for walking.
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static |
Specify that the frame is expressed in the left foot centered frame.
SignalTimeDependent<bool,int> dynamicgraph::sot::PatternGenerator::leftFootContactSOUT |
Booleans for contact of the feet.
SignalPtr<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::LeftFootCurrentPosSIN |
Take the current left foot homogeneous position.
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::LeftFootRefSOUT |
Externalize the left foot position reference.
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protected |
Distance between ankle and soil.
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protected |
Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum.
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protected |
Absolute position of the reference CoM.
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protected |
true iff the pattern if dealing with data, false if pg is not working anymore/yet.
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protected |
Com Attitude: does not really exist apart when the robot is seen as an inverted pendulum.
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protected |
Absolute position of the reference dCoM.
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protected |
Absolute Derivate for the left and right feet.
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protected |
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protected |
Double support phase detected.
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protected |
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protected |
Relative Position of the flying foot.
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protected |
Boolean variable to initialize the object by loading an object.
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protected |
Initial Absolute position of the reference CoM.
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protected |
Initial Absolute Starting Position for the left and right feet.
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protected |
Boolean variable to initialize the position: first through the real state of the robot, then through the motor command.
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protected |
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protected |
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protected |
Initial Absolute position and attitude of the reference Waist.
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protected |
Initial Absolute position of the reference ZMP.
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protected |
Joint values for walking.
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protected |
Rigit motion between two waist positions at the beginning of the walking and at the end of the walking.
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protected |
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protected |
Absolute Position for the left and right feet.
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protected |
iteration time.
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protected |
Keep track of the motion between sequence of motions.
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protected |
Pointer towards the interface of the pattern generator.
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protected |
Some information related to the preview control.
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protected |
Keep the frame reference.
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protected |
Booleans used to indicate feet contacts.
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protected |
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protected |
Lenght of the sole.
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protected |
Width of the sole.
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protected |
Integer for the support foot.
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Time step.
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Directory where the VRML file of the robot's model is located.
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Name of the VRML file which containes the robot's model.
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Velocity reference for Herdt's PG.
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Directory where the VRML file of the robot's model is located.
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Name of the VRML file which containes the robot's model.
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Waist Attitude.
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Waist Attitude Absolute.
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Waist position.
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Waist position Absolute.
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Name of the XML file which specificies the rank of the Joints in the state vector.
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Name of the XML file which contains humanoid specific informations.
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Absolute position of the reference ZMP.
SignalPtr<ml::Vector,int> dynamicgraph::sot::PatternGenerator::motorControlJointPositionSIN |
Motor control joint position values.
SignalTimeDependent<Dummy,int> dynamicgraph::sot::PatternGenerator::OneStepOfControlS |
Internal signal to trigger one step of the algorithm.
SignalTimeDependent<bool,int> dynamicgraph::sot::PatternGenerator::rightFootContactSOUT |
SignalPtr<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::RightFootCurrentPosSIN |
Take the current right foot homogeneous position.
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::PatternGenerator::RightFootRefSOUT |
Externalize the right foot position reference.
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SignalTimeDependent<unsigned int,int> dynamicgraph::sot::PatternGenerator::SupportFootSOUT |
Externalize the support foot.
SignalPtr<ml::Vector,int> dynamicgraph::sot::PatternGenerator::velocitydesSIN |
Take the current desired velocity.
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Specify that the frame is expressed in the waist centered frame.
SignalTimeDependent<VectorRollPitchYaw,int> dynamicgraph::sot::PatternGenerator::waistattitudeabsoluteSOUT |
Externalize the absolute waist attitude.
SignalTimeDependent<VectorRollPitchYaw,int> dynamicgraph::sot::PatternGenerator::waistattitudeSOUT |
Externalize the waist attitude.
SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::PatternGenerator::waistpositionabsoluteSOUT |
Externalize the absolute waist position.
SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::PatternGenerator::waistpositionSOUT |
Externalize the waist position.
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static |
Specify that the frame is expressed in the world reference frame.
SignalPtr<ml::Vector,int> dynamicgraph::sot::PatternGenerator::ZMPPreviousControllerSIN |
Previous ZMP value (ZMP send by the preceding controller).
SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::PatternGenerator::ZMPRefSOUT |
Externalize the ZMP reference .