dynamicgraph::sot::PatternGenerator Class Reference

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>

Inheritance diagram for dynamicgraph::sot::PatternGenerator:
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List of all members.

Public Types

typedef int Dummy

Public Member Functions

 DYNAMIC_GRAPH_ENTITY_DECL ()
 PatternGenerator (const std::string &name="PatternGenerator")
 Default constructor.
virtual ~PatternGenerator (void)
 Default destructor.
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 useFeedBackSignals (const bool &feedBack)
void useDynamicFilter (const bool &dynamicFilter)
void debug (void)
Methods related to the data files.
bool buildModel (void)
 Build the pattern generator interface from a Urdf and SRDF file.
bool InitState (void)
 Initialize the state of the robot.
void setPreviewControlParametersFile (const std::string &filename)
 Set the directory which contains the parameters for the preview control.
void setURDFFile (const std::string &filename)
 Set the path which contains the URDF files robot's model.
void setSRDFFile (const std::string &filename)
 Set the path which contains the SRDF files robot's model. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL.
void setXmlRankFile (const std::string &filename)
 Set the path which contains the Joint Rank model.
void setParamPreviewFile (const std::string &filename)
 Set the name of the file specifying the control parameters of the preview control.
void setSoleParameters (const double &inSoleLength, const double &inSoleWidth)
 Set the foot parameters.
void addJointMapping (const std::string &link, const std::string &repName)
 Set mapping between a link and actual robot name.
pg::PatternGeneratorInterface * GetPatternGeneratorInterface ()
 Give access directly to the pattern generator... You really have to know what your are doing.

Public Attributes

Internal signals.
SignalTimeDependent< Dummy, int > firstSINTERN
 Internal signal for initialization and one shot signals.
SignalTimeDependent< Dummy, int > OneStepOfControlS
 Internal signal to trigger one step of the algorithm.
External signals
SignalPtr
< dynamicgraph::Vector, int > 
jointPositionSIN
 Real state position values.
SignalPtr
< dynamicgraph::Vector, int > 
motorControlJointPositionSIN
 Motor control joint position values.
SignalPtr
< dynamicgraph::Vector, int > 
ZMPPreviousControllerSIN
 Previous ZMP value (ZMP send by the preceding controller).
SignalTimeDependent
< dynamicgraph::Vector, int > 
ZMPRefSOUT
 Externalize the ZMP reference .
SignalTimeDependent
< dynamicgraph::Vector, int > 
CoMRefSOUT
 Externalize the CoM reference.
SignalTimeDependent
< dynamicgraph::Vector, int > 
dCoMRefSOUT
 Externalize the CoM reference.
SignalPtr
< dynamicgraph::Vector, int > 
comSIN
 Take the current CoM.
SignalPtr
< dynamicgraph::Vector, int > 
comStateSIN
 Take the current CoM state (pos, vel, acc).
SignalPtr
< dynamicgraph::Vector, int > 
zmpSIN
 Take the current zmp (x, y, z).
SignalPtr
< dynamicgraph::Vector, int > 
forceSIN
 Take the current external force applied to the com (fx, fy, fz).
SignalTimeDependent
< dynamicgraph::Vector, int > 
forceSOUT
dynamicgraph::Vector m_initForce
dynamicgraph::Vector m_currentForces
std::deque< dynamicgraph::Vectorm_bufferForce
std::vector< double > m_filterWindow
SignalPtr
< dynamicgraph::Vector, int > 
velocitydesSIN
 Take the current desired velocity.
SignalPtr< MatrixHomogeneous, int > LeftFootCurrentPosSIN
 Take the current left foot homogeneous position.
SignalPtr< MatrixHomogeneous, int > RightFootCurrentPosSIN
 Take the current right foot homogeneous position.
SignalTimeDependent
< MatrixHomogeneous, int > 
LeftFootRefSOUT
 Externalize the left foot position reference.
SignalTimeDependent
< MatrixHomogeneous, int > 
RightFootRefSOUT
 Externalize the right foot position reference.
SignalTimeDependent
< MatrixHomogeneous, int > 
dotLeftFootRefSOUT
 Externalize the left foot position reference.
SignalTimeDependent
< MatrixHomogeneous, int > 
dotRightFootRefSOUT
 Externalize the right foot position reference.
SignalTimeDependent
< MatrixHomogeneous, int > 
FlyingFootRefSOUT
 Externalize the foot which is not considered as support foot, the information are given in a relative referentiel.
SignalTimeDependent< unsigned
int, int > 
SupportFootSOUT
 Externalize the support foot.
SignalTimeDependent
< dynamicgraph::Vector, int > 
jointWalkingErrorPositionSOUT
 Externalize the joint values for walking.
SignalTimeDependent
< dynamicgraph::Vector, int > 
comattitudeSOUT
 Externalize the com attitude.
SignalTimeDependent
< dynamicgraph::Vector, int > 
dcomattitudeSOUT
 Externalize the dcom attitude.
SignalTimeDependent
< VectorRollPitchYaw, int > 
waistattitudeSOUT
 Externalize the waist attitude.
SignalTimeDependent
< VectorRollPitchYaw, int > 
waistattitudeabsoluteSOUT
 Externalize the absolute waist attitude.
SignalTimeDependent
< dynamicgraph::Vector, int > 
waistpositionSOUT
 Externalize the waist position.
SignalTimeDependent
< dynamicgraph::Vector, int > 
waistpositionabsoluteSOUT
 Externalize the absolute waist position.
SignalTimeDependent< unsigned
int, int > 
dataInProcessSOUT
 true iff PG is processing. Use it for synchronize.
SignalTimeDependent
< dynamicgraph::Vector, int > 
InitZMPRefSOUT
 Externalize the initial ZMP reference .
SignalTimeDependent
< dynamicgraph::Vector, int > 
InitCoMRefSOUT
 Externalize the initial CoM reference.
SignalTimeDependent
< dynamicgraph::Vector, int > 
InitWaistPosRefSOUT
 Externalize the initial Waist reference.
SignalTimeDependent
< VectorRollPitchYaw, int > 
InitWaistAttRefSOUT
 Externalize the initial Waist reference.
SignalTimeDependent
< MatrixHomogeneous, int > 
InitLeftFootRefSOUT
 Externalize the left foot position reference.
SignalTimeDependent
< MatrixHomogeneous, int > 
InitRightFootRefSOUT
 Externalize the right foot position reference.
SignalTimeDependent< bool, int > leftFootContactSOUT
 Booleans for contact of the feet.
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.
static const int EGOCENTERED_FRAME = 1
 Specify that the frame is expressed in the robot ego centered frame.
static const int LEFT_FOOT_CENTERED_FRAME = 2
 Specify that the frame is expressed in the left foot centered frame.
static const int WAIST_CENTERED_FRAME = 3
 Specify that the frame is expressed in the waist centered frame.

Protected Member Functions

unsigned int & getSupportFoot (unsigned int &res, int time)
 Getting the current support foot: 1 Left -1 Right.
int & InitOneStepOfControl (int &dummy, int time)
 Trigger the initialization of the algorithm.
int & OneStepOfControl (int &dummy, int time)
 Trigger one step of the algorithm.
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.
void FromAbsoluteFootPosToHomogeneous (pg::FootAbsolutePosition aFootPosition, MatrixHomogeneous &aFootMH)
 Transfert from a current absolute foot position to a homogeneous matrix.
void getAbsoluteWaistPosAttHomogeneousMatrix (MatrixHomogeneous &aWaistMH)
 Provide an homogeneous matrix from the current waist position and attitude.
dynamicgraph::VectorgetInitZMPRef (dynamicgraph::Vector &res, int time)
 Internal method to get the initial reference ZMP at a given time.
dynamicgraph::VectorgetInitCoMRef (dynamicgraph::Vector &res, int time)
 Internal method to get the initial reference CoM at a given time.
dynamicgraph::VectorgetInitWaistPosRef (dynamicgraph::Vector &res, int time)
 Internal method to get the initial reference CoM at a given time.
VectorRollPitchYawgetInitWaistAttRef (VectorRollPitchYaw &res, int time)
 Internal method to get the initial reference CoM at a given time.
MatrixHomogeneousgetInitLeftFootRef (MatrixHomogeneous &res, int time)
 Internal method to get the position of the left foot.
MatrixHomogeneousgetInitRightFootRef (MatrixHomogeneous &res, int time)
 Internal method to get the position of the right foot.
bool & getLeftFootContact (bool &res, int time)
 Internal method to get the information of contact or not on the feet.
bool & getRightFootContact (bool &res, int time)
 MAL_VECTOR (m_ZMPPrevious, double)
Internal methods to access reference trajectories.
dynamicgraph::VectorgetZMPRef (dynamicgraph::Vector &res, int time)
 Internal method to get the reference ZMP at a given time.
dynamicgraph::VectorgetCoMRef (dynamicgraph::Vector &res, int time)
 Internal method to get the reference CoM at a given time.
dynamicgraph::VectorgetdCoMRef (dynamicgraph::Vector &res, int time)
 Internal method to get the reference dCoM at a given time.
dynamicgraph::VectorgetExternalForces (dynamicgraph::Vector &forces, int time)
 Internal method to get the external forces at a given time.
MatrixHomogeneousgetLeftFootRef (MatrixHomogeneous &res, int time)
 Internal method to get the position of the left foot.
MatrixHomogeneousgetRightFootRef (MatrixHomogeneous &res, int time)
 Internal method to get the position of the right foot.
MatrixHomogeneousgetdotLeftFootRef (MatrixHomogeneous &res, int time)
 Internal method to get the derivative of the left foot.
MatrixHomogeneousgetdotRightFootRef (MatrixHomogeneous &res, int time)
 Internal method to get the derivative of the right foot.
MatrixHomogeneousgetFlyingFootRef (MatrixHomogeneous &res, int time)
 Internal method to get the position of the flying foot.
dynamicgraph::VectorgetjointWalkingErrorPosition (dynamicgraph::Vector &res, int time)
 Internal method to get the joint position for walking.
dynamicgraph::VectorgetdComAttitude (dynamicgraph::Vector &res, int time)
 Internal method to get the derivative of the com attitude.
dynamicgraph::VectorgetComAttitude (dynamicgraph::Vector &res, int time)
 Internal method to get the attitude of the com.
VectorRollPitchYawgetWaistAttitude (VectorRollPitchYaw &res, int time)
 Internal method to get the attitude of the waist.
VectorRollPitchYawgetWaistAttitudeAbsolute (VectorRollPitchYaw &res, int time)
 Internal method to get the absolute attitude of the waist.
unsigned & getDataInProcess (unsigned &res, int time)
 Internal method to get the dataInPorcess flag.
dynamicgraph::VectorgetWaistPosition (dynamicgraph::Vector &res, int time)
 Internal method to get the position of the waist.
dynamicgraph::VectorgetWaistPositionAbsolute (dynamicgraph::Vector &res, int time)
 Internal method to get the absolute position of the waist.

Protected Attributes

se3::Model m_robotModel
 The model of the robot.
pg::PinocchioRobot * m_PR
 Pointer towards the robot model inside jrl-walkgen.
se3::Data * m_robotData
 The pointor toward the robot data.
pg::PatternGeneratorInterface * m_PGI
 Pointer towards the interface of the pattern generator.
bool m_init
 Boolean variable to initialize the object by loading an object.
bool m_InitPositionByRealState
 Boolean variable to initialize the position: first through the real state of the robot, then through the motor command.
int m_SupportFoot
 Integer for the support foot.
int m_ReferenceFrame
 Keep the frame reference.
double m_AnkleSoilDistance
 Distance between ankle and soil.
double m_TimeStep
 Time step.
bool m_DoubleSupportPhaseState
 Double support phase detected.
int m_DSStartingTime
unsigned int m_LocalTime
 iteration time.
Fields to store name and positions of data files
std::string m_PreviewControlParametersFile
 Some information related to the preview control.
std::string m_urdfFile
 Directory+Name where the URDF file of the robot's model is located.
std::string m_srdfFile
 Directory+Name where the SRDF file of the robot's model is located.
std::string m_xmlRankFile
 Directory+Name where the Rank of the joints are notified.
std::vector< unsigned > m_wrml2urdfIndex
double m_soleLength
 Lenght of the sole.
double m_soleWidth
 Width of the sole.
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.
MatrixHomogeneous m_LeftFootPosition
 Absolute Position for the left and right feet.
MatrixHomogeneous m_RightFootPosition
MatrixHomogeneous m_dotLeftFootPosition
 Absolute Derivate for the left and right feet.
MatrixHomogeneous m_dotRightFootPosition
MatrixHomogeneous m_InitLeftFootPosition
 Initial Absolute Starting Position for the left and right feet.
MatrixHomogeneous m_InitRightFootPosition
MatrixHomogeneous m_MotionSinceInstanciationToThisSequence
 Keep track of the motion between sequence of motions.
MatrixHomogeneous m_FlyingFootPosition
 Relative Position of the flying foot.
dynamicgraph::Vector m_ZMPRefPos
 Absolute position of the reference ZMP.
dynamicgraph::Vector m_ComAttitude
 Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum.
dynamicgraph::Vector m_dComAttitude
 Com Attitude: does not really exist apart when the robot is seen as an inverted pendulum.
dynamicgraph::Vector m_COMRefPos
 Absolute position of the reference CoM.
dynamicgraph::Vector m_dCOMRefPos
 Absolute position of the reference dCoM.
dynamicgraph::Vector m_InitZMPRefPos
 Initial Absolute position of the reference ZMP.
dynamicgraph::Vector m_InitWaistRefPos
 Initial Absolute position and attitude of the reference Waist.
dynamicgraph::Vector m_InitWaistRefAtt
dynamicgraph::Vector m_InitCOMRefPos
 Initial Absolute position of the reference CoM.
dynamicgraph::Vector m_WaistPosition
 Waist position.
dynamicgraph::Vector m_WaistPositionAbsolute
 Waist position Absolute.
dynamicgraph::Vector m_WaistAttitude
 Waist Attitude.
dynamicgraph::Vector m_WaistAttitudeAbsolute
 Waist Attitude Absolute.
dynamicgraph::Vector m_JointErrorValuesForWalking
 Joint values for walking.
dynamicgraph::Vector m_VelocityReference
 Velocity reference for Herdt's PG.
unsigned int m_dataInProcess
 true iff the pattern if dealing with data, false if pg is not working anymore/yet.
bool m_feedBackControl
 Booleans used to indicate if feedback signals shoul be used or not.
bool m_forceFeedBack
 Booleans used to indicate if force feedback signals shoul be used or not.
bool m_rightFootContact
 Booleans used to indicate feet contacts.
bool m_leftFootContact

Detailed Description

This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library.


Member Typedef Documentation


Constructor & Destructor Documentation

dynamicgraph::sot::PatternGenerator::PatternGenerator ( const std::string &  name = "PatternGenerator")

Default constructor.

virtual dynamicgraph::sot::PatternGenerator::~PatternGenerator ( void  ) [virtual]

Default destructor.


Member Function Documentation

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 from a Urdf and SRDF file.

void dynamicgraph::sot::PatternGenerator::debug ( void  )
dynamicgraph::sot::PatternGenerator::DYNAMIC_GRAPH_ENTITY_DECL ( )

Class name

void dynamicgraph::sot::PatternGenerator::FromAbsoluteFootPosToDotHomogeneous ( pg::FootAbsolutePosition  aFootPosition,
MatrixHomogeneous aFootMH,
MatrixHomogeneous adotFootMH 
) [protected]

Transfert from a current absolute foot position to a dot homogeneous matrix.

void dynamicgraph::sot::PatternGenerator::FromAbsoluteFootPosToHomogeneous ( pg::FootAbsolutePosition  aFootPosition,
MatrixHomogeneous aFootMH 
) [protected]

Transfert from a current absolute foot position to a homogeneous matrix.

void dynamicgraph::sot::PatternGenerator::getAbsoluteWaistPosAttHomogeneousMatrix ( MatrixHomogeneous aWaistMH) [protected]

Provide an homogeneous matrix from the current waist position and attitude.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getComAttitude ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the attitude of the com.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getCoMRef ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the reference CoM at a given time.

unsigned& dynamicgraph::sot::PatternGenerator::getDataInProcess ( unsigned &  res,
int  time 
) [protected]

Internal method to get the dataInPorcess flag.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getdComAttitude ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the derivative of the com attitude.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getdCoMRef ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the reference dCoM at a given time.

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getdotLeftFootRef ( MatrixHomogeneous res,
int  time 
) [protected]

Internal method to get the derivative of the left foot.

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getdotRightFootRef ( MatrixHomogeneous res,
int  time 
) [protected]

Internal method to get the derivative of the right foot.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getExternalForces ( dynamicgraph::Vector forces,
int  time 
) [protected]

Internal method to get the external forces at a given time.

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getFlyingFootRef ( MatrixHomogeneous res,
int  time 
) [protected]

Internal method to get the position of the flying foot.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitCoMRef ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the initial reference CoM at a given time.

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getInitLeftFootRef ( MatrixHomogeneous res,
int  time 
) [protected]

Internal method to get the position of the left foot.

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getInitRightFootRef ( MatrixHomogeneous res,
int  time 
) [protected]

Internal method to get the position of the right foot.

VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getInitWaistAttRef ( VectorRollPitchYaw res,
int  time 
) [protected]

Internal method to get the initial reference CoM at a given time.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitWaistPosRef ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the initial reference CoM at a given time.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitZMPRef ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the initial reference ZMP at a given time.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getjointWalkingErrorPosition ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the joint position for walking.

bool& dynamicgraph::sot::PatternGenerator::getLeftFootContact ( bool &  res,
int  time 
) [protected]

Internal method to get the information of contact or not on the feet.

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getLeftFootRef ( MatrixHomogeneous res,
int  time 
) [protected]

Internal method to get the position of the left foot.

pg::PatternGeneratorInterface* dynamicgraph::sot::PatternGenerator::GetPatternGeneratorInterface ( ) [inline]

Give access directly to the pattern generator... You really have to know what your are doing.

bool& dynamicgraph::sot::PatternGenerator::getRightFootContact ( bool &  res,
int  time 
) [protected]
MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getRightFootRef ( MatrixHomogeneous res,
int  time 
) [protected]

Internal method to get the position of the right foot.

unsigned int& dynamicgraph::sot::PatternGenerator::getSupportFoot ( unsigned int &  res,
int  time 
) [protected]

Getting the current support foot: 1 Left -1 Right.

VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getWaistAttitude ( VectorRollPitchYaw res,
int  time 
) [protected]

Internal method to get the attitude of the waist.

VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getWaistAttitudeAbsolute ( VectorRollPitchYaw res,
int  time 
) [protected]

Internal method to get the absolute attitude of the waist.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getWaistPosition ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the position of the waist.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getWaistPositionAbsolute ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the absolute position of the waist.

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getZMPRef ( dynamicgraph::Vector res,
int  time 
) [protected]

Internal method to get the reference ZMP at a given time.

void dynamicgraph::sot::PatternGenerator::initCommands ( void  )
int& dynamicgraph::sot::PatternGenerator::InitOneStepOfControl ( int &  dummy,
int  time 
) [protected]

Trigger the initialization of the algorithm.

bool dynamicgraph::sot::PatternGenerator::InitState ( void  )

Initialize the state of the robot.

dynamicgraph::sot::PatternGenerator::MAL_VECTOR ( m_ZMPPrevious  ,
double   
) [protected]

Storing the previous ZMP value.

int& dynamicgraph::sot::PatternGenerator::OneStepOfControl ( int &  dummy,
int  time 
) [protected]

Trigger one step of the algorithm.

void dynamicgraph::sot::PatternGenerator::ParseCmdFile ( std::istringstream &  cmdArg,
std::ostream &  os 
) [protected]

Parsing a file of command by the walking pattern generator interface.

[in] The command line (optional option)
[in]
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::setSRDFFile ( const std::string &  filename)

Set the path which contains the SRDF files robot's model. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL.

void dynamicgraph::sot::PatternGenerator::setURDFFile ( const std::string &  filename)

Set the path which contains the URDF files robot's model.

void dynamicgraph::sot::PatternGenerator::setXmlRankFile ( const std::string &  filename)

Set the path which contains the Joint Rank model.

int dynamicgraph::sot::PatternGenerator::stringToReferenceEnum ( const std::string &  FrameReference)
void dynamicgraph::sot::PatternGenerator::useDynamicFilter ( const bool &  dynamicFilter)
void dynamicgraph::sot::PatternGenerator::useFeedBackSignals ( const bool &  feedBack)

Member Data Documentation

Take the current CoM state (pos, vel, acc).

true iff PG is processing. Use it for synchronize.

Specify that the frame is expressed in the robot ego centered frame.

Internal signal for initialization and one shot signals.

Externalize the foot which is not considered as support foot, the information are given in a relative referentiel.

Take the current external force applied to the com (fx, fy, fz).

Specify that the frame is expressed in the left foot centered frame.

Take the current left foot homogeneous position.

Distance between ankle and soil.

Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum.

Absolute position of the reference CoM.

true iff the pattern if dealing with data, false if pg is not working anymore/yet.

Com Attitude: does not really exist apart when the robot is seen as an inverted pendulum.

Absolute position of the reference dCoM.

Absolute Derivate for the left and right feet.

Double support phase detected.

Booleans used to indicate if feedback signals shoul be used or not.

Relative Position of the flying foot.

Booleans used to indicate if force feedback signals shoul be used or not.

Boolean variable to initialize the object by loading an object.

Initial Absolute position of the reference CoM.

Initial Absolute Starting Position for the left and right feet.

Boolean variable to initialize the position: first through the real state of the robot, then through the motor command.

Initial Absolute position and attitude of the reference Waist.

Initial Absolute position of the reference ZMP.

Rigit motion between two waist positions at the beginning of the walking and at the end of the walking.

Absolute Position for the left and right feet.

iteration time.

Keep track of the motion between sequence of motions.

pg::PatternGeneratorInterface* dynamicgraph::sot::PatternGenerator::m_PGI [protected]

Pointer towards the interface of the pattern generator.

pg::PinocchioRobot* dynamicgraph::sot::PatternGenerator::m_PR [protected]

Pointer towards the robot model inside jrl-walkgen.

Some information related to the preview control.

Keep the frame reference.

Booleans used to indicate feet contacts.

The pointor toward the robot data.

The model of the robot.

Lenght of the sole.

Width of the sole.

Directory+Name where the SRDF file of the robot's model is located.

Integer for the support foot.

Time step.

Directory+Name where the URDF file of the robot's model is located.

std::vector<unsigned> dynamicgraph::sot::PatternGenerator::m_wrml2urdfIndex [protected]

Directory+Name where the Rank of the joints are notified.

Absolute position of the reference ZMP.

Internal signal to trigger one step of the algorithm.

Take the current right foot homogeneous position.

std::map<std::string, std::string> dynamicgraph::sot::PatternGenerator::specialJoints_ [protected]

Externalize the support foot.

Specify that the frame is expressed in the waist centered frame.

Specify that the frame is expressed in the world reference frame.

Previous ZMP value (ZMP send by the preceding controller).