#include <aig/biped_ig.hpp>

Public Member Functions
	BipedIG ()

	BipedIG (const BipedIGSettings &settings)

void	initialize (const BipedIGSettings &settings)

const BipedIGSettings &	get_settings ()

const LegIGSettings &	get_left_leg_settings ()

const LegIGSettings &	get_right_leg_settings ()

const Eigen::VectorXd &	getQ0 ()

void	setQ0 (const Eigen::VectorXd q0)

const Eigen::Vector3d &	getAMVariation ()
	Get the Angular Momentum variation. Please call computeDynamics first. Deprecate it, AIG is not made for dynamics. More...

const Eigen::Vector3d &	getCoM ()
	Get the CoM position. Please call computeDynamics first. More...

const Eigen::Vector3d &	getVCoM ()
	Get the CoM velocity. Please call computeDynamics first. More...

const Eigen::Vector3d &	getACoM ()
	Get the CoM acceleration. Please call computeDynamics first. More...

const Eigen::Vector3d &	getAM ()
	Get the angular momentum. Please call computeDynamics first. More...

const Eigen::Vector2d &	getCoP ()
	Get the CoP Position. Please call computeDynamics first. More...

const Eigen::Vector2d &	getNL ()
	Get the nonlinear effect. Please call computeDynamics first. More...

void	checkCompatibility ()

void	solve (const Eigen::Vector3d &com, const pinocchio::SE3 &leftFoot, const pinocchio::SE3 &rightFoot, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, const double &tolerance=1e-10, const int &max_iterations=0)

void	solve (const Eigen::Vector3d &com, const Eigen::Isometry3d &leftFeet, const Eigen::Isometry3d &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, const double &tolerance=1e-10, const int &max_iterations=0)

void	solve (const Eigen::Vector3d &com, const Eigen::Matrix3d &baseRotation, const pinocchio::SE3 &leftFoot, const pinocchio::SE3 &rightFoot, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, const double &tolerance=1e-10, const int &max_iterations=0)

void	solve (const Eigen::Vector3d &com, const Eigen::Matrix3d &baseRotation, const Eigen::Isometry3d &leftFoot, const Eigen::Isometry3d &rightFoot, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, const double &tolerance=1e-10, const int &max_iterations=0)

void	solve (const pinocchio::SE3 &base, const pinocchio::SE3 &leftFoot, const pinocchio::SE3 &rightFoot, const Eigen::VectorXd &q0, Eigen::VectorXd &posture)

void	solve (const Eigen::Isometry3d &base, const Eigen::Isometry3d &leftFoot, const Eigen::Isometry3d &rightFoot, const Eigen::VectorXd &q0, Eigen::VectorXd &posture)

void	solve (const std::array< Eigen::Vector3d, 3 > &coms, const std::array< pinocchio::SE3, 3 > &leftFeet, const std::array< pinocchio::SE3, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt, const double &tolerance=1e-10, const int &max_iterations=0)

void	solve (const std::array< Eigen::Vector3d, 3 > &coms, const std::array< Eigen::Isometry3d, 3 > &leftFeet, const std::array< Eigen::Isometry3d, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt, const double &tolerance=1e-10, const int &max_iterations=0)

void	solve (const std::array< Eigen::Vector3d, 3 > &coms, const std::array< Eigen::Matrix3d, 3 > &baseRotations, const std::array< pinocchio::SE3, 3 > &leftFeet, const std::array< pinocchio::SE3, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt, const double &tolerance=1e-10, const int &max_iterations=0)

void	solve (const std::array< Eigen::Vector3d, 3 > &coms, const std::array< Eigen::Matrix3d, 3 > &baseRotations, const std::array< Eigen::Isometry3d, 3 > &leftFeet, const std::array< Eigen::Isometry3d, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt, const double &tolerance=1e-10, const int &max_iterations=0)

void	solve (const std::array< pinocchio::SE3, 3 > &bases, const std::array< pinocchio::SE3, 3 > &leftFeet, const std::array< pinocchio::SE3, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt)

void	solve (const std::array< Eigen::Isometry3d, 3 > &bases, const std::array< Eigen::Isometry3d, 3 > &leftFeet, const std::array< Eigen::Isometry3d, 3 > &rightFeet, const Eigen::VectorXd &q0, Eigen::VectorXd &posture, Eigen::VectorXd &velocity, Eigen::VectorXd &acceleration, const double &dt)

void	set_com_from_waist (const Eigen::Vector3d &com_from_waist)

void	set_com_from_waist (const Eigen::VectorXd &q)

void	correctCoMfromWaist (const Eigen::Vector3d &com, const pinocchio::SE3 &leftFoot, const pinocchio::SE3 &rightFoot, const Eigen::VectorXd &q0, const double &tolerance=1e-10, const int &max_iterations=20)

void	correctCoMfromWaist (const Eigen::Vector3d &com, const Eigen::Isometry3d &leftFoot, const Eigen::Isometry3d &rightFoot, const Eigen::VectorXd &q0, const double &tolerance=1e-10, const int &max_iterations=20)

void	computeDynamics (const Eigen::VectorXd &posture, const Eigen::VectorXd &velocity, const Eigen::VectorXd &acceleration, const Eigen::Matrix< double, 6, 1 > &externalWrench=Eigen::Matrix< double, 6, 1 >::Zero(), bool flatHorizontalGround=true)

void	computeNL (const double &w, const Eigen::VectorXd &posture, const Eigen::VectorXd &velocity, const Eigen::VectorXd &acceleration, const Eigen::Matrix< double, 6, 1 > &externalWrench=Eigen::Matrix< double, 6, 1 >::Zero(), bool flatHorizontalGround=true)

void	computeNL (const double &w)

pinocchio::Model &	get_model ()

pinocchio::Data &	get_data ()

Eigen::Vector3d &	get_com_from_waist ()

Detailed Description

Todo:: Describe BipedIG

Constructor & Destructor Documentation

◆ BipedIG() [1/2]

aig::BipedIG::BipedIG ( )

◆ BipedIG() [2/2]

aig::BipedIG::BipedIG ( const BipedIGSettings & settings )

Member Function Documentation

◆ checkCompatibility()

void aig::BipedIG::checkCompatibility ( )

◆ computeDynamics()

void aig::BipedIG::computeDynamics	(	const Eigen::VectorXd &	posture,
		const Eigen::VectorXd &	velocity,
		const Eigen::VectorXd &	acceleration,
		const Eigen::Matrix< double, 6, 1 > &	externalWrench = `Eigen::Matrix<double, 6, 1>::Zero()`,
		bool	flatHorizontalGround = `true`
	)

◆ computeNL() [1/2]

void aig::BipedIG::computeNL ( const double & w )

In this function form, computeDynamics is suposed to have been called before.

◆ computeNL() [2/2]

void aig::BipedIG::computeNL	(	const double &	w,
		const Eigen::VectorXd &	posture,
		const Eigen::VectorXd &	velocity,
		const Eigen::VectorXd &	acceleration,
		const Eigen::Matrix< double, 6, 1 > &	externalWrench = `Eigen::Matrix<double, 6, 1>::Zero()`,
		bool	flatHorizontalGround = `true`
	)

◆ correctCoMfromWaist() [1/2]

void aig::BipedIG::correctCoMfromWaist	(	const Eigen::Vector3d &	com,
		const Eigen::Isometry3d &	leftFoot,
		const Eigen::Isometry3d &	rightFoot,
		const Eigen::VectorXd &	q0,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `20`
	)

◆ correctCoMfromWaist() [2/2]

void aig::BipedIG::correctCoMfromWaist	(	const Eigen::Vector3d &	com,
		const pinocchio::SE3 &	leftFoot,
		const pinocchio::SE3 &	rightFoot,
		const Eigen::VectorXd &	q0,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `20`
	)

◆ get_com_from_waist()

Eigen::Vector3d& aig::BipedIG::get_com_from_waist ( )

inline

◆ get_data()

pinocchio::Data& aig::BipedIG::get_data ( )

inline

◆ get_left_leg_settings()

const LegIGSettings& aig::BipedIG::get_left_leg_settings ( )

inline

◆ get_model()

pinocchio::Model& aig::BipedIG::get_model ( )

inline

◆ get_right_leg_settings()

const LegIGSettings& aig::BipedIG::get_right_leg_settings ( )

inline

◆ get_settings()

const BipedIGSettings& aig::BipedIG::get_settings ( )

inline

◆ getACoM()

const Eigen::Vector3d& aig::BipedIG::getACoM ( )

inline

Get the CoM acceleration. Please call computeDynamics first.

◆ getAM()

const Eigen::Vector3d& aig::BipedIG::getAM ( )

inline

Get the angular momentum. Please call computeDynamics first.

◆ getAMVariation()

const Eigen::Vector3d& aig::BipedIG::getAMVariation ( )

inline

Get the Angular Momentum variation. Please call computeDynamics first. Deprecate it, AIG is not made for dynamics.

◆ getCoM()

const Eigen::Vector3d& aig::BipedIG::getCoM ( )

inline

Get the CoM position. Please call computeDynamics first.

◆ getCoP()

const Eigen::Vector2d& aig::BipedIG::getCoP ( )

inline

Get the CoP Position. Please call computeDynamics first.

◆ getNL()

const Eigen::Vector2d& aig::BipedIG::getNL ( )

inline

Get the nonlinear effect. Please call computeDynamics first.

◆ getQ0()

const Eigen::VectorXd& aig::BipedIG::getQ0 ( )

inline

◆ getVCoM()

const Eigen::Vector3d& aig::BipedIG::getVCoM ( )

inline

Get the CoM velocity. Please call computeDynamics first.

◆ initialize()

void aig::BipedIG::initialize ( const BipedIGSettings & settings )

◆ set_com_from_waist() [1/2]

void aig::BipedIG::set_com_from_waist ( const Eigen::Vector3d & com_from_waist )

◆ set_com_from_waist() [2/2]

void aig::BipedIG::set_com_from_waist ( const Eigen::VectorXd & q )

◆ setQ0()

void aig::BipedIG::setQ0 ( const Eigen::VectorXd q0 )

inline

◆ solve() [1/12]

void aig::BipedIG::solve	(	const Eigen::Isometry3d &	base,
		const Eigen::Isometry3d &	leftFoot,
		const Eigen::Isometry3d &	rightFoot,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture
	)

◆ solve() [2/12]

void aig::BipedIG::solve	(	const Eigen::Vector3d &	com,
		const Eigen::Isometry3d &	leftFeet,
		const Eigen::Isometry3d &	rightFeet,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `0`
	)

◆ solve() [3/12]

void aig::BipedIG::solve	(	const Eigen::Vector3d &	com,
		const Eigen::Matrix3d &	baseRotation,
		const Eigen::Isometry3d &	leftFoot,
		const Eigen::Isometry3d &	rightFoot,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `0`
	)

◆ solve() [4/12]

void aig::BipedIG::solve	(	const Eigen::Vector3d &	com,
		const Eigen::Matrix3d &	baseRotation,
		const pinocchio::SE3 &	leftFoot,
		const pinocchio::SE3 &	rightFoot,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `0`
	)

◆ solve() [5/12]

void aig::BipedIG::solve	(	const Eigen::Vector3d &	com,
		const pinocchio::SE3 &	leftFoot,
		const pinocchio::SE3 &	rightFoot,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `0`
	)

◆ solve() [6/12]

void aig::BipedIG::solve	(	const pinocchio::SE3 &	base,
		const pinocchio::SE3 &	leftFoot,
		const pinocchio::SE3 &	rightFoot,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture
	)

◆ solve() [7/12]

void aig::BipedIG::solve	(	const std::array< Eigen::Isometry3d, 3 > &	bases,
		const std::array< Eigen::Isometry3d, 3 > &	leftFeet,
		const std::array< Eigen::Isometry3d, 3 > &	rightFeet,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		Eigen::VectorXd &	velocity,
		Eigen::VectorXd &	acceleration,
		const double &	dt
	)

◆ solve() [8/12]

void aig::BipedIG::solve	(	const std::array< Eigen::Vector3d, 3 > &	coms,
		const std::array< Eigen::Isometry3d, 3 > &	leftFeet,
		const std::array< Eigen::Isometry3d, 3 > &	rightFeet,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		Eigen::VectorXd &	velocity,
		Eigen::VectorXd &	acceleration,
		const double &	dt,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `0`
	)

◆ solve() [9/12]

void aig::BipedIG::solve	(	const std::array< Eigen::Vector3d, 3 > &	coms,
		const std::array< Eigen::Matrix3d, 3 > &	baseRotations,
		const std::array< Eigen::Isometry3d, 3 > &	leftFeet,
		const std::array< Eigen::Isometry3d, 3 > &	rightFeet,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		Eigen::VectorXd &	velocity,
		Eigen::VectorXd &	acceleration,
		const double &	dt,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `0`
	)

◆ solve() [10/12]

void aig::BipedIG::solve	(	const std::array< Eigen::Vector3d, 3 > &	coms,
		const std::array< Eigen::Matrix3d, 3 > &	baseRotations,
		const std::array< pinocchio::SE3, 3 > &	leftFeet,
		const std::array< pinocchio::SE3, 3 > &	rightFeet,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		Eigen::VectorXd &	velocity,
		Eigen::VectorXd &	acceleration,
		const double &	dt,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `0`
	)

◆ solve() [11/12]

void aig::BipedIG::solve	(	const std::array< Eigen::Vector3d, 3 > &	coms,
		const std::array< pinocchio::SE3, 3 > &	leftFeet,
		const std::array< pinocchio::SE3, 3 > &	rightFeet,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		Eigen::VectorXd &	velocity,
		Eigen::VectorXd &	acceleration,
		const double &	dt,
		const double &	tolerance = `1e-10`,
		const int &	max_iterations = `0`
	)

◆ solve() [12/12]

void aig::BipedIG::solve	(	const std::array< pinocchio::SE3, 3 > &	bases,
		const std::array< pinocchio::SE3, 3 > &	leftFeet,
		const std::array< pinocchio::SE3, 3 > &	rightFeet,
		const Eigen::VectorXd &	q0,
		Eigen::VectorXd &	posture,
		Eigen::VectorXd &	velocity,
		Eigen::VectorXd &	acceleration,
		const double &	dt
	)

The documentation for this class was generated from the following files:

include/aig/biped_ig.hpp
src/biped_ig.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BipedIG() [1/2]

◆ BipedIG() [2/2]

Member Function Documentation

◆ checkCompatibility()

◆ computeDynamics()

◆ computeNL() [1/2]

◆ computeNL() [2/2]

◆ correctCoMfromWaist() [1/2]

◆ correctCoMfromWaist() [2/2]

◆ get_com_from_waist()

◆ get_data()

◆ get_left_leg_settings()

◆ get_model()

◆ get_right_leg_settings()

◆ get_settings()

◆ getACoM()

◆ getAM()

◆ getAMVariation()

◆ getCoM()

◆ getCoP()

◆ getNL()

◆ getQ0()

◆ getVCoM()

◆ initialize()

◆ set_com_from_waist() [1/2]

◆ set_com_from_waist() [2/2]

◆ setQ0()

◆ solve() [1/12]

◆ solve() [2/12]

◆ solve() [3/12]

◆ solve() [4/12]

◆ solve() [5/12]

◆ solve() [6/12]

◆ solve() [7/12]

◆ solve() [8/12]

◆ solve() [9/12]

◆ solve() [10/12]

◆ solve() [11/12]

◆ solve() [12/12]