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

Collaboration diagram for sobec::WBC:

[legend]

Public Member Functions
	WBC ()

	WBC (const WBCSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName)

void	initialize (const WBCSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName)

void	initializeSupportTiming ()

void	updateSupportTiming ()

const supportSwitch &	getSwitches (const unsigned long before, const unsigned long after)

const Eigen::VectorXd &	shapeState (const Eigen::VectorXd &q, const Eigen::VectorXd &v)

void	generateWalkingCycle (ModelMaker &mm)

void	generateStandingCycle (ModelMaker &mm)

void	generateWalkingCycleNoThinking (ModelMaker &mm)

void	generateStandingCycleNoThinking (ModelMaker &mm)

void	updateStepCycleTiming ()

bool	timeToSolveDDP (int iteration)

void	iterate (const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible)

void	iterate (int iteration, const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible)

void	iterateNoThinking (const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible)

void	iterateNoThinking (int iteration, const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible)

void	recedeWithCycle ()

void	recedeWithCycle (HorizonManager &cycle)

void	goToNextDoubleSupport ()

WBCSettings &	get_settings ()

const Eigen::VectorXd &	get_x0 () const

void	set_x0 (const Eigen::VectorXd &x0)

HorizonManager &	get_walkingCycle ()

void	set_walkingCycle (const HorizonManager &walkingCycle)

HorizonManager &	get_standingCycle ()

void	set_standingCycle (const HorizonManager &standingCycle)

HorizonManager &	get_horizon ()

void	set_horizon (const HorizonManager &horizon)

RobotDesigner &	get_designer ()

void	set_designer (const RobotDesigner &designer)

const std::vector< int > &	get_land_LF ()

const std::vector< int > &	get_land_RF ()

const std::vector< int > &	get_takeoff_LF ()

const std::vector< int > &	get_takeoff_RF ()

const int &	get_land_LF_cycle ()

const int &	get_land_RF_cycle ()

const int &	get_takeoff_LF_cycle ()

const int &	get_takeoff_RF_cycle ()

const std::vector< pinocchio::SE3 > &	getPoseRef_LF ()

const pinocchio::SE3 &	getPoseRef_LF (unsigned long time)

void	setPoseRef_LF (const std::vector< pinocchio::SE3 > &ref_LF_poses)

void	setPoseRef_LF (const pinocchio::SE3 &ref_LF_pose, unsigned long time)

const std::vector< pinocchio::SE3 > &	getPoseRef_RF ()

const pinocchio::SE3 &	getPoseRef_RF (unsigned long time)

void	setPoseRef_RF (const std::vector< pinocchio::SE3 > &ref_RF_poses)

void	setPoseRef_RF (const pinocchio::SE3 &ref_RF_pose, unsigned long time)

const eVector3 &	getCoMRef ()

void	setCoMRef (eVector3 ref_com)

const Eigen::Matrix3d &	getBaseRotRef ()

void	setBaseRotRef (Eigen::Matrix3d ref_base_rotation)

const eVector3 &	getVelRef_COM ()

void	setVelRef_COM (eVector3 ref_com_vel)

std::vector< pinocchio::SE3 > &	ref_LF_poses ()

std::vector< pinocchio::SE3 > &	ref_RF_poses ()

eVector3 &	ref_com ()

Eigen::Matrix3d &	ref_base_rot ()

eVector3 &	ref_com_vel ()

void	switchToWalk ()

void	switchToStand ()

LocomotionType	currentLocomotion ()

Protected Member Functions
void	updateStepTrackerReferences ()

void	updateStepTrackerLastReference ()

void	updateNonThinkingReferences ()

void	rewindWalkingCycle ()

Protected Attributes
WBCSettings	settings_

RobotDesigner	designer_

HorizonManager	horizon_

HorizonManager	walkingCycle_

HorizonManager	standingCycle_

eVector3	ref_com_vel_

eVector3	ref_com_

eVector3	ref_dcm_

Eigen::Matrix3d	ref_base_rotation_

Eigen::VectorXd	x0_

LocomotionType	now_ = WALKING

int	nWalkingCycles_

double	yaw_left_

double	yaw_right_

std::vector< int >	takeoff_RF_

std::vector< int >	takeoff_LF_

std::vector< int >	land_RF_

std::vector< int >	land_LF_

int	takeoff_RF_cycle_

int	takeoff_LF_cycle_

int	land_RF_cycle_

int	land_LF_cycle_

std::vector< pinocchio::SE3 >	ref_LF_poses_

std::vector< pinocchio::SE3 >	ref_RF_poses_

bool	initialized_ = false

std::vector< unsigned long >	controlled_joints_id_

Eigen::VectorXd	x_internal_

bool	time_to_solve_ddp_ = false

bool	first_switch_to_stand_ = true

std::set< std::string >	contacts_before_

std::set< std::string >	contacts_after_

supportSwitch	switch_

int	horizon_end_

Constructor & Destructor Documentation

◆ WBC() [1/2]

sobec::WBC::WBC ( )

◆ WBC() [2/2]

sobec::WBC::WBC	(	const WBCSettings &	settings,
		const RobotDesigner &	design,
		const HorizonManager &	horizon,
		const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	v0,
		const std::string &	actuationCostName
	)

Member Function Documentation

◆ currentLocomotion()

LocomotionType sobec::WBC::currentLocomotion ( )

inline

◆ generateStandingCycle()

void sobec::WBC::generateStandingCycle ( ModelMaker & mm )

Todo:: : bind it

◆ generateStandingCycleNoThinking()

void sobec::WBC::generateStandingCycleNoThinking ( ModelMaker & mm )

Todo:: : bind it

◆ generateWalkingCycle()

void sobec::WBC::generateWalkingCycle ( ModelMaker & mm )

◆ generateWalkingCycleNoThinking()

void sobec::WBC::generateWalkingCycleNoThinking ( ModelMaker & mm )

◆ get_designer()

RobotDesigner& sobec::WBC::get_designer ( )

inline

◆ get_horizon()

HorizonManager& sobec::WBC::get_horizon ( )

inline

◆ get_land_LF()

const std::vector<int>& sobec::WBC::get_land_LF ( )

inline

◆ get_land_LF_cycle()

const int& sobec::WBC::get_land_LF_cycle ( )

inline

◆ get_land_RF()

const std::vector<int>& sobec::WBC::get_land_RF ( )

inline

◆ get_land_RF_cycle()

const int& sobec::WBC::get_land_RF_cycle ( )

inline

◆ get_settings()

WBCSettings& sobec::WBC::get_settings ( )

inline

◆ get_standingCycle()

HorizonManager& sobec::WBC::get_standingCycle ( )

inline

◆ get_takeoff_LF()

const std::vector<int>& sobec::WBC::get_takeoff_LF ( )

inline

◆ get_takeoff_LF_cycle()

const int& sobec::WBC::get_takeoff_LF_cycle ( )

inline

◆ get_takeoff_RF()

const std::vector<int>& sobec::WBC::get_takeoff_RF ( )

inline

◆ get_takeoff_RF_cycle()

const int& sobec::WBC::get_takeoff_RF_cycle ( )

inline

◆ get_walkingCycle()

HorizonManager& sobec::WBC::get_walkingCycle ( )

inline

◆ get_x0()

const Eigen::VectorXd& sobec::WBC::get_x0 ( ) const

inline

◆ getBaseRotRef()

const Eigen::Matrix3d& sobec::WBC::getBaseRotRef ( )

inline

◆ getCoMRef()

const eVector3& sobec::WBC::getCoMRef ( )

inline

◆ getPoseRef_LF() [1/2]

const std::vector<pinocchio::SE3>& sobec::WBC::getPoseRef_LF ( )

inline

◆ getPoseRef_LF() [2/2]

const pinocchio::SE3& sobec::WBC::getPoseRef_LF ( unsigned long time )

inline

◆ getPoseRef_RF() [1/2]

const std::vector<pinocchio::SE3>& sobec::WBC::getPoseRef_RF ( )

inline

◆ getPoseRef_RF() [2/2]

const pinocchio::SE3& sobec::WBC::getPoseRef_RF ( unsigned long time )

inline

◆ getSwitches()

const supportSwitch & sobec::WBC::getSwitches	(	const unsigned long	before,
		const unsigned long	after
	)

◆ getVelRef_COM()

const eVector3& sobec::WBC::getVelRef_COM ( )

inline

◆ goToNextDoubleSupport()

void sobec::WBC::goToNextDoubleSupport ( )

◆ initialize()

void sobec::WBC::initialize	(	const WBCSettings &	settings,
		const RobotDesigner &	design,
		const HorizonManager &	horizon,
		const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	v0,
		const std::string &	actuationCostName
	)

The posture required here is the full robot posture in the order of pinicchio

Todo:: : Remove this from the initialization and provide it as a method.

◆ initializeSupportTiming()

void sobec::WBC::initializeSupportTiming ( )

◆ iterate() [1/2]

void sobec::WBC::iterate	(	const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	is_feasible
	)

◆ iterate() [2/2]

void sobec::WBC::iterate	(	int	iteration,
		const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	is_feasible
	)

◆ iterateNoThinking() [1/2]

void sobec::WBC::iterateNoThinking	(	const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	is_feasible
	)

◆ iterateNoThinking() [2/2]

void sobec::WBC::iterateNoThinking	(	int	iteration,
		const Eigen::VectorXd &	q_current,
		const Eigen::VectorXd &	v_current,
		bool	is_feasible
	)

◆ recedeWithCycle() [1/2]

void sobec::WBC::recedeWithCycle ( )

◆ recedeWithCycle() [2/2]

void sobec::WBC::recedeWithCycle ( HorizonManager & cycle )

◆ ref_base_rot()

Eigen::Matrix3d& sobec::WBC::ref_base_rot ( )

inline

◆ ref_com()

eVector3& sobec::WBC::ref_com ( )

inline

◆ ref_com_vel()

eVector3& sobec::WBC::ref_com_vel ( )

inline

◆ ref_LF_poses()

std::vector<pinocchio::SE3>& sobec::WBC::ref_LF_poses ( )

inline

◆ ref_RF_poses()

std::vector<pinocchio::SE3>& sobec::WBC::ref_RF_poses ( )

inline

◆ rewindWalkingCycle()

void sobec::WBC::rewindWalkingCycle ( )

protected

This function brings the walking cycle to the beggining of a double support

◆ set_designer()

void sobec::WBC::set_designer ( const RobotDesigner & designer )

inline

◆ set_horizon()

void sobec::WBC::set_horizon ( const HorizonManager & horizon )

inline

◆ set_standingCycle()

void sobec::WBC::set_standingCycle ( const HorizonManager & standingCycle )

inline

◆ set_walkingCycle()

void sobec::WBC::set_walkingCycle ( const HorizonManager & walkingCycle )

inline

◆ set_x0()

void sobec::WBC::set_x0 ( const Eigen::VectorXd & x0 )

inline

◆ setBaseRotRef()

void sobec::WBC::setBaseRotRef ( Eigen::Matrix3d ref_base_rotation )

inline

◆ setCoMRef()

void sobec::WBC::setCoMRef ( eVector3 ref_com )

inline

◆ setPoseRef_LF() [1/2]

void sobec::WBC::setPoseRef_LF	(	const pinocchio::SE3 &	ref_LF_pose,
		unsigned long	time
	)

inline

◆ setPoseRef_LF() [2/2]

void sobec::WBC::setPoseRef_LF ( const std::vector< pinocchio::SE3 > & ref_LF_poses )

inline

◆ setPoseRef_RF() [1/2]

void sobec::WBC::setPoseRef_RF	(	const pinocchio::SE3 &	ref_RF_pose,
		unsigned long	time
	)

inline

◆ setPoseRef_RF() [2/2]

void sobec::WBC::setPoseRef_RF ( const std::vector< pinocchio::SE3 > & ref_RF_poses )

inline

◆ setVelRef_COM()

void sobec::WBC::setVelRef_COM ( eVector3 ref_com_vel )

inline

◆ shapeState()

const Eigen::VectorXd & sobec::WBC::shapeState	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)

◆ switchToStand()

void sobec::WBC::switchToStand ( )

inline

◆ switchToWalk()

void sobec::WBC::switchToWalk ( )

inline

◆ timeToSolveDDP()

bool sobec::WBC::timeToSolveDDP ( int iteration )

◆ updateNonThinkingReferences()

void sobec::WBC::updateNonThinkingReferences ( )

protected

◆ updateStepCycleTiming()

void sobec::WBC::updateStepCycleTiming ( )

◆ updateStepTrackerLastReference()

void sobec::WBC::updateStepTrackerLastReference ( )

protected

◆ updateStepTrackerReferences()

void sobec::WBC::updateStepTrackerReferences ( )

protected

Todo:: : the names must be provided by the user

◆ updateSupportTiming()

void sobec::WBC::updateSupportTiming ( )

Member Data Documentation

◆ contacts_after_

std::set<std::string> sobec::WBC::contacts_after_

protected

◆ contacts_before_

std::set<std::string> sobec::WBC::contacts_before_

protected

◆ controlled_joints_id_

std::vector<unsigned long> sobec::WBC::controlled_joints_id_

protected

◆ designer_

RobotDesigner sobec::WBC::designer_

protected

◆ first_switch_to_stand_

bool sobec::WBC::first_switch_to_stand_ = true

protected

◆ horizon_

HorizonManager sobec::WBC::horizon_

protected

◆ horizon_end_

int sobec::WBC::horizon_end_

protected

◆ initialized_

bool sobec::WBC::initialized_ = false

protected

◆ land_LF_

std::vector<int> sobec::WBC::land_LF_

protected

◆ land_LF_cycle_

int sobec::WBC::land_LF_cycle_

protected

◆ land_RF_

std::vector<int> sobec::WBC::land_RF_

protected

◆ land_RF_cycle_

int sobec::WBC::land_RF_cycle_

protected

◆ now_

LocomotionType sobec::WBC::now_ = WALKING

protected

◆ nWalkingCycles_

int sobec::WBC::nWalkingCycles_

protected

◆ ref_base_rotation_

Eigen::Matrix3d sobec::WBC::ref_base_rotation_

protected

◆ ref_com_

eVector3 sobec::WBC::ref_com_

protected

◆ ref_com_vel_

eVector3 sobec::WBC::ref_com_vel_

protected

◆ ref_dcm_

eVector3 sobec::WBC::ref_dcm_

protected

◆ ref_LF_poses_

std::vector<pinocchio::SE3> sobec::WBC::ref_LF_poses_

protected

◆ ref_RF_poses_

std::vector<pinocchio::SE3> sobec::WBC::ref_RF_poses_

protected

◆ settings_

WBCSettings sobec::WBC::settings_

protected

Form to use this class: 1) The function iterate produces the torques to command. 2) All cost references must be updated separtely in the control loop.

◆ standingCycle_

HorizonManager sobec::WBC::standingCycle_

protected

◆ switch_

supportSwitch sobec::WBC::switch_

protected

◆ takeoff_LF_

std::vector<int> sobec::WBC::takeoff_LF_

protected

◆ takeoff_LF_cycle_

int sobec::WBC::takeoff_LF_cycle_

protected

◆ takeoff_RF_

std::vector<int> sobec::WBC::takeoff_RF_

protected

◆ takeoff_RF_cycle_

int sobec::WBC::takeoff_RF_cycle_

protected

◆ time_to_solve_ddp_

bool sobec::WBC::time_to_solve_ddp_ = false

protected

◆ walkingCycle_

HorizonManager sobec::WBC::walkingCycle_

protected

◆ x0_

Eigen::VectorXd sobec::WBC::x0_

protected

◆ x_internal_

Eigen::VectorXd sobec::WBC::x_internal_

protected

◆ yaw_left_

double sobec::WBC::yaw_left_

protected

◆ yaw_right_

double sobec::WBC::yaw_right_

protected

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

include/sobec/walk-with-traj/wbc.hpp
src/walk-with-traj/wbc.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ WBC() [1/2]

◆ WBC() [2/2]

Member Function Documentation

◆ currentLocomotion()

◆ generateStandingCycle()

◆ generateStandingCycleNoThinking()

◆ generateWalkingCycle()

◆ generateWalkingCycleNoThinking()

◆ get_designer()

◆ get_horizon()

◆ get_land_LF()

◆ get_land_LF_cycle()

◆ get_land_RF()

◆ get_land_RF_cycle()

◆ get_settings()

◆ get_standingCycle()

◆ get_takeoff_LF()

◆ get_takeoff_LF_cycle()

◆ get_takeoff_RF()

◆ get_takeoff_RF_cycle()

◆ get_walkingCycle()

◆ get_x0()

◆ getBaseRotRef()

◆ getCoMRef()

◆ getPoseRef_LF() [1/2]

◆ getPoseRef_LF() [2/2]

◆ getPoseRef_RF() [1/2]

◆ getPoseRef_RF() [2/2]

◆ getSwitches()

◆ getVelRef_COM()

◆ goToNextDoubleSupport()

◆ initialize()

◆ initializeSupportTiming()

◆ iterate() [1/2]

◆ iterate() [2/2]

◆ iterateNoThinking() [1/2]

◆ iterateNoThinking() [2/2]

◆ recedeWithCycle() [1/2]

◆ recedeWithCycle() [2/2]

◆ ref_base_rot()

◆ ref_com()

◆ ref_com_vel()

◆ ref_LF_poses()

◆ ref_RF_poses()

◆ rewindWalkingCycle()

◆ set_designer()

◆ set_horizon()

◆ set_standingCycle()

◆ set_walkingCycle()

◆ set_x0()

◆ setBaseRotRef()

◆ setCoMRef()

◆ setPoseRef_LF() [1/2]

◆ setPoseRef_LF() [2/2]

◆ setPoseRef_RF() [1/2]

◆ setPoseRef_RF() [2/2]

◆ setVelRef_COM()

◆ shapeState()

◆ switchToStand()

◆ switchToWalk()

◆ timeToSolveDDP()

◆ updateNonThinkingReferences()

◆ updateStepCycleTiming()

◆ updateStepTrackerLastReference()

◆ updateStepTrackerReferences()

◆ updateSupportTiming()

Member Data Documentation

◆ contacts_after_

◆ contacts_before_

◆ controlled_joints_id_

◆ designer_

◆ first_switch_to_stand_

◆ horizon_

◆ horizon_end_

◆ initialized_

◆ land_LF_