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PatternGeneratorJRL Namespace Reference

\doc Simulate a rigid body More...

Namespaces

namespace  pinocchio_robot
 

Classes

class  AnalyticalZMPCOGTrajectory
 
class  Bsplines
 
class  BSplinesFoot
 Bsplines used for Z trajectory of stair steps. More...
 
struct  CH_Point
 
struct  Circle_t
 Structure to model a circle (e.g : a stricly convex obstable) More...
 
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  ControlLoopOneStepArgs
 
struct  FootAbsolutePosition_t
 Structure to store the absolute foot position. More...
 
class  FootConstraintsAsLinearSystem
 
class  FootHalfSize
 
struct  HandAbsolutePosition_t
 Structure to store the absolute foot position. More...
 
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 : More...
 
class  PatternGeneratorInterface
 
class  PinocchioRobot
 
struct  PinocchioRobotFoot_t
 
class  Polynome
 
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  PolynomeFoot
 
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
 
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
 
class  ZMPPreviewControlWithMultiBodyZMP
 

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 PatternGeneratorInterfacepatternGeneratorInterfaceFactory (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)
 
std::ostream & operator<< (std::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

\doc Simulate a rigid body

STL includes

Framework includes

Typedef Documentation

◆ Circle

◆ COMPosition

◆ COMState

◆ ConvexHullList

◆ FootAbsolutePosition

◆ HandAbsolutePosition

◆ linear_dynamics_t

◆ LinearConstraintInequality_t

◆ LinearConstraintInequalityFreeFeet_t

◆ PRFoot

◆ ReferenceAbsoluteVelocity

◆ RelativeFootPosition

◆ rigid_body_state_t

◆ SupportFeet_t

◆ WaistState

◆ ZMPPosition

Function Documentation

◆ CompareCBRep()

double PatternGeneratorJRL::CompareCBRep ( CH_Point & s1,
CH_Point & s2 )

◆ DistanceCHRep()

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

◆ operator<<() [1/11]

ostream & PatternGeneratorJRL::operator<< ( ostream & os,
const AnalyticalZMPCOGTrajectory & obj )

◆ operator<<() [2/11]

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

◆ operator<<() [3/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const AnalyticalZMPCOGTrajectory & obj )

◆ operator<<() [4/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const Circle_t & circle )
inline

◆ operator<<() [5/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const COMPosition_s & aCp )
inline

◆ operator<<() [6/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const FootAbsolutePosition & fap )
inline

◆ operator<<() [7/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const HandAbsolutePosition & hap )
inline

◆ operator<<() [8/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const ReferenceAbsoluteVelocity_t & rav )
inline

◆ operator<<() [9/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const RelativeFootPosition_s & rfp )
inline

◆ operator<<() [10/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const SupportFeet_s & sf )
inline

◆ operator<<() [11/11]

std::ostream & PatternGeneratorJRL::operator<< ( std::ostream & os,
const ZMPPosition_s & zmp )
inline

◆ patternGeneratorInterfaceFactory()

WALK_GEN_JRL_EXPORT PatternGeneratorInterface * PatternGeneratorJRL::patternGeneratorInterfaceFactory ( PinocchioRobot * )

Factory of Pattern generator interface.

Variable Documentation

◆ HRP2CIO_GlobalP0

CH_Point PatternGeneratorJRL::HRP2CIO_GlobalP0