sobec::FootTrajectory Class Reference

#include <sobec/walk-with-traj/foot_trajectory.hpp>

Public Member Functions
	FootTrajectory (const double &swing_leg_height, const double swing_pose_penetration=0., const double landing_advance=0.)
	FootTrajectory. More...
void	generate (const double &t_init, const double &t_end, const pinocchio::SE3 &pose_init, const pinocchio::SE3 &pose_end, const bool &constant=false)
void	update (const double time, const pinocchio::SE3 &pose_end)
double	min ()
double	max ()
double	compute_dt (const double &time)
pinocchio::SE3	compute (const double &time)
pinocchio::SE3	start ()
pinocchio::SE3	end ()
eVector3	linear_vel (const double &time)
eVector3	angular_vel (const double &time)
eVector3	linear_acc (const double &time)
eVector3	angular_acc (const double &time)
const bool	is_constant ()

Constructor & Destructor Documentation

FootTrajectory()

sobec::FootTrajectory::FootTrajectory	(	const double &	swing_leg_height,
		const double	swing_pose_penetration = 0.,
		const double	landing_advance = 0.
	)

FootTrajectory.

Parameters

swing_leg_height	desired height at the apex of the trajectory wrt to the average between init and end height
landing_advance	duration before the final time where the feet pose should be reached

Member Function Documentation

angular_acc()

eVector3 sobec::FootTrajectory::angular_acc

(

const double &

time

)

angular_vel()

eVector3 sobec::FootTrajectory::angular_vel

(

const double &

time

)

compute()

pinocchio::SE3 sobec::FootTrajectory::compute

(

const double &

time

)

compute_dt()

double sobec::FootTrajectory::compute_dt

(

const double &

time

)

end()

pinocchio::SE3 sobec::FootTrajectory::end

(

)

generate()

void sobec::FootTrajectory::generate	(	const double &	t_init,
		const double &	t_end,
		const pinocchio::SE3 &	pose_init,
		const pinocchio::SE3 &	pose_end,
		const bool &	constant = false
	)

is_constant()

const bool sobec::FootTrajectory::is_constant ( )

inline

linear_acc()

eVector3 sobec::FootTrajectory::linear_acc

(

const double &

time

)

linear_vel()

eVector3 sobec::FootTrajectory::linear_vel

(

const double &

time

)

max()

double sobec::FootTrajectory::max

(

)

min()

double sobec::FootTrajectory::min

(

)

start()

pinocchio::SE3 sobec::FootTrajectory::start

(

)

update()

void sobec::FootTrajectory::update	(	const double	time,
		const pinocchio::SE3 &	pose_end
	)

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

• include/sobec/walk-with-traj/foot_trajectory.hpp
• src/walk-with-traj/foot_trajectory.cpp