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
43 #include <Eigen/Dense>
63 for (
size_t i = 0; i < 3; ++i) {
64 os <<
"x[" << i <<
"] " << aCp.
x[i] <<
" y[" << i <<
"] " << aCp.
y[i]
65 <<
" z[" << i <<
"] " << aCp.
z[i] << std::endl;
67 os <<
"yaw " << aCp.
yaw <<
" pitch " << aCp.
pitch <<
" roll " << aCp.
roll;
76 double x[3], y[3], z[3];
109 os <<
"sx " << rfp.
sx <<
" sy " << rfp.
sy <<
" sz " << rfp.
sz <<
" theta "
110 << rfp.
theta << std::endl;
111 os <<
"SStime " << rfp.
SStime <<
" DStime " << rfp.
DStime <<
" stepType "
131 os <<
"px " << zmp.
px <<
" py " << zmp.
pz <<
" pz " << zmp.
pz <<
" theta "
132 << zmp.
theta << std::endl;
133 os <<
"time " << zmp.
time <<
" stepType " << zmp.
stepType;
160 os <<
"x " << fap.
x <<
" y " << fap.
y <<
" z " << fap.
z <<
" theta "
163 os <<
"dx " << fap.
dx <<
" dy " << fap.
dy <<
" dz " << fap.
dz <<
" dtheta "
166 os <<
"ddx " << fap.
ddx <<
" ddy " << fap.
ddy <<
" ddz " << fap.
ddz
167 <<
" ddtheta " << fap.
ddtheta <<
" ddomega " << fap.
ddomega <<
" ddomega2 "
169 os <<
"time " << fap.
time <<
" stepType " << fap.
stepType;
194 os <<
"x " << hap.
x <<
" y " << hap.
y <<
" z " << hap.
z <<
" theta "
197 os <<
"dx " << hap.
dx <<
" dy " << hap.
dy <<
" dz " << hap.
dz <<
" dtheta "
200 os <<
"ddx " << hap.
ddx <<
" ddy " << hap.
ddy <<
" ddz " << hap.
ddz
201 <<
" ddtheta " << hap.
ddtheta <<
" ddomega " << hap.
ddomega <<
" ddomega2 "
203 os <<
"time " << hap.
time <<
" stepType " << hap.
stepType;
234 os <<
"x " << sf.
x <<
" y " << sf.
y <<
" theta " << sf.
theta << std::endl;
253 os <<
"x " << rav.
x <<
" y " << rav.
y <<
" z " << rav.
z <<
" dYaw "
268 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:72
std::ostream & operator<<(std::ostream &os, const COMPosition_s &aCp)
Definition: pgtypes.hh:62
struct COMPosition_s COMPosition
Definition: pgtypes.hh:71
#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:52
double y[3]
Definition: pgtypes.hh:53
double z[3]
Definition: pgtypes.hh:54
struct COMPosition_s & operator=(const COMState_s &aCS)
double pitch
Definition: pgtypes.hh:56
double yaw
Definition: pgtypes.hh:55
double roll
Definition: pgtypes.hh:57
double x[3]
Definition: pgtypes.hh:53
Structure to store the COM state computed by the preview control.
Definition: pgtypes.hh:75
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:259
double x_0
Definition: pgtypes.hh:260
double margin
Definition: pgtypes.hh:263
double y_0
Definition: pgtypes.hh:261
double r
Definition: pgtypes.hh:262
Definition: pgtypes.hh:272
Eigen::VectorXd CurrentConfiguration
Definition: pgtypes.hh:273
FootAbsolutePosition RightFootPosition
Definition: pgtypes.hh:279
Eigen::VectorXd ZMPTarget
Definition: pgtypes.hh:276
FootAbsolutePosition LeftFootPosition
Definition: pgtypes.hh:278
COMState finalCOMState
Definition: pgtypes.hh:277
Eigen::VectorXd CurrentVelocity
Definition: pgtypes.hh:274
Eigen::VectorXd Momentum
Definition: pgtypes.hh:280
Eigen::VectorXd CurrentAcceleration
Definition: pgtypes.hh:275
Structure to store the absolute foot position.
Definition: pgtypes.hh:174
double omega2
Definition: pgtypes.hh:176
double dddz
Definition: pgtypes.hh:182
double dddomega
Definition: pgtypes.hh:182
double domega
Definition: pgtypes.hh:178
double ddy
Definition: pgtypes.hh:180
double dtheta
Definition: pgtypes.hh:178
int stepType
Definition: pgtypes.hh:188
double ddomega2
Definition: pgtypes.hh:180
double y
Definition: pgtypes.hh:176
double dx
Definition: pgtypes.hh:178
double ddz
Definition: pgtypes.hh:180
double dy
Definition: pgtypes.hh:178
double omega
Definition: pgtypes.hh:176
double dddy
Definition: pgtypes.hh:182
double ddx
Definition: pgtypes.hh:180
double z
Definition: pgtypes.hh:176
double dddx
Definition: pgtypes.hh:182
double ddtheta
Definition: pgtypes.hh:180
double dddtheta
Definition: pgtypes.hh:182
double theta
Definition: pgtypes.hh:176
double time
Definition: pgtypes.hh:184
double ddomega
Definition: pgtypes.hh:180
double dddomega2
Definition: pgtypes.hh:182
double dz
Definition: pgtypes.hh:178
double x
Definition: pgtypes.hh:176
double domega2
Definition: pgtypes.hh:178
Linear constraints with variable feet placement.
Definition: pgtypes.hh:218
Eigen::MatrixXd Dc
Definition: pgtypes.hh:220
Eigen::MatrixXd D
Definition: pgtypes.hh:219
int StepNumber
Definition: pgtypes.hh:221
Definition: pgtypes.hh:208
std::vector< int > SimilarConstraints
Definition: pgtypes.hh:212
Eigen::MatrixXd B
Definition: pgtypes.hh:210
Eigen::MatrixXd A
Definition: pgtypes.hh:209
Eigen::VectorXd Center
Definition: pgtypes.hh:211
double StartingTime
Definition: pgtypes.hh:213
double EndingTime
Definition: pgtypes.hh:213
Structure to store the absolute reference.
Definition: pgtypes.hh:240
double z
Definition: pgtypes.hh:242
Eigen::VectorXd RefVectorX
Definition: pgtypes.hh:245
Eigen::VectorXd RefVectorY
Definition: pgtypes.hh:246
Eigen::VectorXd RefVectorTheta
Definition: pgtypes.hh:247
double x
Definition: pgtypes.hh:242
double y
Definition: pgtypes.hh:242
double dYaw
Definition: pgtypes.hh:242
Definition: pgtypes.hh:227
double y
Definition: pgtypes.hh:228
double StartTime
Definition: pgtypes.hh:228
int SupportFoot
Definition: pgtypes.hh:229
double x
Definition: pgtypes.hh:228
double theta
Definition: pgtypes.hh:228
Definition: pgtypes.hh:118
double pz
Definition: pgtypes.hh:119
double time
Definition: pgtypes.hh:121
double py
Definition: pgtypes.hh:119
int stepType
Definition: pgtypes.hh:122
double theta
Definition: pgtypes.hh:120
double px
Definition: pgtypes.hh:119