30 #ifndef _PATTERN_GENERATOR_TYPES_H_
31 #define _PATTERN_GENERATOR_TYPES_H_
35 #ifdef jrl_walkgen_EXPORTS
36 #define WALK_GEN_JRL_EXPORT __declspec(dllexport)
38 #define WALK_GEN_JRL_EXPORT __declspec(dllimport)
41 #define WALK_GEN_JRL_EXPORT
46 #include <Eigen/Dense>
64 for (
size_t i = 0; i < 3; ++i) {
65 os <<
"x[" << i <<
"] " << aCp.
x[i] <<
" y[" << i <<
"] " << aCp.
y[i]
66 <<
" z[" << i <<
"] " << aCp.
z[i] << std::endl;
68 os <<
"yaw " << aCp.
yaw <<
" pitch " << aCp.
pitch <<
" roll " << aCp.
roll;
77 double x[3], y[3], z[3];
110 os <<
"sx " << rfp.
sx <<
" sy " << rfp.
sy <<
" sz " << rfp.
sz <<
" theta "
111 << rfp.
theta << std::endl;
112 os <<
"SStime " << rfp.
SStime <<
" DStime " << rfp.
DStime <<
" stepType "
132 os <<
"px " << zmp.
px <<
" py " << zmp.
pz <<
" pz " << zmp.
pz <<
" theta "
133 << zmp.
theta << std::endl;
134 os <<
"time " << zmp.
time <<
" stepType " << zmp.
stepType;
161 os <<
"x " << fap.
x <<
" y " << fap.
y <<
" z " << fap.
z <<
" theta "
164 os <<
"dx " << fap.
dx <<
" dy " << fap.
dy <<
" dz " << fap.
dz <<
" dtheta "
167 os <<
"ddx " << fap.
ddx <<
" ddy " << fap.
ddy <<
" ddz " << fap.
ddz
168 <<
" ddtheta " << fap.
ddtheta <<
" ddomega " << fap.
ddomega <<
" ddomega2 "
170 os <<
"time " << fap.
time <<
" stepType " << fap.
stepType;
195 os <<
"x " << hap.
x <<
" y " << hap.
y <<
" z " << hap.
z <<
" theta "
198 os <<
"dx " << hap.
dx <<
" dy " << hap.
dy <<
" dz " << hap.
dz <<
" dtheta "
201 os <<
"ddx " << hap.
ddx <<
" ddy " << hap.
ddy <<
" ddz " << hap.
ddz
202 <<
" ddtheta " << hap.
ddtheta <<
" ddomega " << hap.
ddomega <<
" ddomega2 "
204 os <<
"time " << hap.
time <<
" stepType " << hap.
stepType;
235 os <<
"x " << sf.
x <<
" y " << sf.
y <<
" theta " << sf.
theta << std::endl;
254 os <<
"x " << rav.
x <<
" y " << rav.
y <<
" z " << rav.
z <<
" dYaw "
269 os <<
"x_0 " << circle.
x_0 <<
" y_0 " << circle.
y_0 <<
" R " << circle.
r;
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
struct COMPosition_s WaistState
Definition: pgtypes.hh:73
std::ostream & operator<<(std::ostream &os, const COMPosition_s &aCp)
Definition: pgtypes.hh:63
struct COMPosition_s COMPosition
Definition: pgtypes.hh:72
#define WALK_GEN_JRL_EXPORT
Definition: pgtypes.hh:41
doublereal * x
Definition: qld.cpp:386
Structure to store the COM position computed by the preview control.
Definition: pgtypes.hh:53
double y[3]
Definition: pgtypes.hh:54
double z[3]
Definition: pgtypes.hh:55
struct COMPosition_s & operator=(const COMState_s &aCS)
double pitch
Definition: pgtypes.hh:57
double yaw
Definition: pgtypes.hh:56
double roll
Definition: pgtypes.hh:58
double x[3]
Definition: pgtypes.hh:54
Structure to store the COM state computed by the preview control.
Definition: pgtypes.hh:76
friend std::ostream & operator<<(std::ostream &os, const struct COMState_s &acs)
struct COMState_s & operator=(const COMPosition_s &aCS)
Structure to model a circle (e.g : a stricly convex obstable)
Definition: pgtypes.hh:260
double x_0
Definition: pgtypes.hh:261
double margin
Definition: pgtypes.hh:264
double y_0
Definition: pgtypes.hh:262
double r
Definition: pgtypes.hh:263
Definition: pgtypes.hh:273
Eigen::VectorXd CurrentConfiguration
Definition: pgtypes.hh:274
FootAbsolutePosition RightFootPosition
Definition: pgtypes.hh:280
Eigen::VectorXd ZMPTarget
Definition: pgtypes.hh:277
FootAbsolutePosition LeftFootPosition
Definition: pgtypes.hh:279
COMState finalCOMState
Definition: pgtypes.hh:278
Eigen::VectorXd CurrentVelocity
Definition: pgtypes.hh:275
Eigen::VectorXd Momentum
Definition: pgtypes.hh:281
Eigen::VectorXd CurrentAcceleration
Definition: pgtypes.hh:276
Structure to store the absolute foot position.
Definition: pgtypes.hh:175
double omega2
Definition: pgtypes.hh:177
double dddz
Definition: pgtypes.hh:183
double dddomega
Definition: pgtypes.hh:183
double domega
Definition: pgtypes.hh:179
double ddy
Definition: pgtypes.hh:181
double dtheta
Definition: pgtypes.hh:179
int stepType
Definition: pgtypes.hh:189
double ddomega2
Definition: pgtypes.hh:181
double y
Definition: pgtypes.hh:177
double dx
Definition: pgtypes.hh:179
double ddz
Definition: pgtypes.hh:181
double dy
Definition: pgtypes.hh:179
double omega
Definition: pgtypes.hh:177
double dddy
Definition: pgtypes.hh:183
double ddx
Definition: pgtypes.hh:181
double z
Definition: pgtypes.hh:177
double dddx
Definition: pgtypes.hh:183
double ddtheta
Definition: pgtypes.hh:181
double dddtheta
Definition: pgtypes.hh:183
double theta
Definition: pgtypes.hh:177
double time
Definition: pgtypes.hh:185
double ddomega
Definition: pgtypes.hh:181
double dddomega2
Definition: pgtypes.hh:183
double dz
Definition: pgtypes.hh:179
double x
Definition: pgtypes.hh:177
double domega2
Definition: pgtypes.hh:179
Linear constraints with variable feet placement.
Definition: pgtypes.hh:219
Eigen::MatrixXd Dc
Definition: pgtypes.hh:221
Eigen::MatrixXd D
Definition: pgtypes.hh:220
int StepNumber
Definition: pgtypes.hh:222
Definition: pgtypes.hh:209
std::vector< int > SimilarConstraints
Definition: pgtypes.hh:213
Eigen::MatrixXd B
Definition: pgtypes.hh:211
Eigen::MatrixXd A
Definition: pgtypes.hh:210
Eigen::VectorXd Center
Definition: pgtypes.hh:212
double StartingTime
Definition: pgtypes.hh:214
double EndingTime
Definition: pgtypes.hh:214
Structure to store the absolute reference.
Definition: pgtypes.hh:241
double z
Definition: pgtypes.hh:243
Eigen::VectorXd RefVectorX
Definition: pgtypes.hh:246
Eigen::VectorXd RefVectorY
Definition: pgtypes.hh:247
Eigen::VectorXd RefVectorTheta
Definition: pgtypes.hh:248
double x
Definition: pgtypes.hh:243
double y
Definition: pgtypes.hh:243
double dYaw
Definition: pgtypes.hh:243
Definition: pgtypes.hh:228
double y
Definition: pgtypes.hh:229
double StartTime
Definition: pgtypes.hh:229
int SupportFoot
Definition: pgtypes.hh:230
double x
Definition: pgtypes.hh:229
double theta
Definition: pgtypes.hh:229
Definition: pgtypes.hh:119
double pz
Definition: pgtypes.hh:120
double time
Definition: pgtypes.hh:122
double py
Definition: pgtypes.hh:120
int stepType
Definition: pgtypes.hh:123
double theta
Definition: pgtypes.hh:121
double px
Definition: pgtypes.hh:120