All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups
PatternGeneratorJRL Namespace Reference

Simulate a rigid body More...

Classes

class  PatternGeneratorInterface
 This class is the interface between the Pattern Generator and the external world. More...
 
struct  COMPosition_s
 Structure to store the COM position computed by the preview control. More...
 
struct  COMState_s
 Structure to store the COM state computed by the preview control. More...
 
struct  RelativeFootPosition_s
 Structure to store each foot position when the user is specifying a sequence of relative positions. More...
 
struct  ZMPPosition_s
 Structure to store each of the ZMP value, with a given direction at a certain time. More...
 
struct  FootAbsolutePosition_t
 Structure to store the absolute foot position. More...
 
struct  HandAbsolutePosition_t
 Structure to store the absolute foot position. More...
 
struct  LinearConstraintInequality_s
 
struct  LinearConstraintInequalityFreeFeet_s
 Linear constraints with variable feet placement. More...
 
struct  SupportFeet_s
 
struct  ReferenceAbsoluteVelocity_t
 Structure to store the absolute reference. More...
 
struct  Circle_t
 Structure to model a circle (e.g : a stricly convex obstable) More...
 
struct  PinocchioRobotFoot_t
 
class  PinocchioRobot
 
class  AnalyticalZMPCOGTrajectory
 
class  Bsplines
 Bspline class. More...
 
class  BSplinesFoot
 Bsplines used for Z trajectory of stair steps. More...
 
struct  ltCH_Point
 
struct  CH_Point
 
class  ComputeConvexHull
 
class  FootConstraintsAsLinearSystem
 
class  FootHalfSize
 
class  IntermedQPMat
 Custom (value based) container providing intermediate elements for the construction of a QP. More...
 
class  Polynome
 Class for computing trajectories. More...
 
class  PolynomeFoot
 
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  Polynome7
 Polynome used for X,Y and Theta trajectories. More...
 
class  RelativeFeetInequalities
 Generate a stack of inequalities relative to feet centers for the whole preview window. More...
 
class  StepOverPolynomeFoot
 Polynome used for Z trajectory during stepover. More...
 
class  StepOverPolynomeFootZtoX
 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  StepOverPolynomeHip4
 Polynome for the hip trajectory. More...
 
class  StepOverSpline
 spline function calculation class to calculate cubic splines More...
 
class  StepOverClampedCubicSpline
 
class  LinearizedInvertedPendulum2D
 
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  PreviewControl
 Class to implement the preview control. More...
 
class  RigidBodySystem
 
struct  rigid_body_state_s
 State vectors. More...
 
struct  linear_dynamics_s
 
class  RigidBody
 
class  SupportFSM
 Finite state machine to determine the support parameters. 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
HandAbsolutePosition_t 
HandAbsolutePosition
 
typedef struct
LinearConstraintInequality_s 
LinearConstraintInequality_t
 
typedef struct
LinearConstraintInequalityFreeFeet_s 
LinearConstraintInequalityFreeFeet_t
 
typedef struct SupportFeet_s SupportFeet_t
 
typedef struct
ReferenceAbsoluteVelocity_t 
ReferenceAbsoluteVelocity
 
typedef struct Circle_t Circle
 
typedef PinocchioRobotFoot_t PRFoot
 
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
PatternGeneratorInterface
patternGeneratorInterfaceFactory (PinocchioRobot *)
 
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 HandAbsolutePosition &hap)
 
std::ostream & operator<< (std::ostream &os, const SupportFeet_s &sf)
 
std::ostream & operator<< (std::ostream &os, const ReferenceAbsoluteVelocity_t &rav)
 
std::ostream & operator<< (std::ostream &os, const Circle_t &circle)
 
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

Function Documentation

double PatternGeneratorJRL::CompareCBRep ( CH_Point &  s1,
CH_Point &  s2 
)
void PatternGeneratorJRL::DistanceCHRep ( CH_Point &  s1,
CH_Point &  s2,
double &  distance1,
double &  distance2 
)
std::ostream& PatternGeneratorJRL::operator<< ( std::ostream &  os,
const ZMPPosition_s &  zmp 
)
inline
std::ostream& PatternGeneratorJRL::operator<< ( std::ostream &  o,
const IntermedQPMat::objective_variant_s r 
)
std::ostream& PatternGeneratorJRL::operator<< ( std::ostream &  os,
const ReferenceAbsoluteVelocity_t &  rav 
)
inline
std::ostream& PatternGeneratorJRL::operator<< ( std::ostream &  os,
const Circle_t &  circle 
)
inline
WALK_GEN_JRL_EXPORT PatternGeneratorInterface* PatternGeneratorJRL::patternGeneratorInterfaceFactory ( PinocchioRobot *  )

Factory of Pattern generator interface.

Variable Documentation