PatternGeneratorJRL::RigidBodySystem Class Reference

#include <PreviewControl/rigid-body-system.hh>

Public Member Functions
	RigidBodySystem (SimplePluginManager *SPM, PinocchioRobot *aPR, SupportFSM *FSM)
	~RigidBodySystem ()
void	initialize ()
	Initialize. More...
int	interpolate (solution_t Result, std::deque< ZMPPosition > &FinalZMPTraj_deq, std::deque< COMState > &FinalCOMTraj_deq, std::deque< FootAbsolutePosition > &FinalLeftFootTraj_deq, std::deque< FootAbsolutePosition > &FinalRightFootTraj_deq)
	Interpolate. More...
int	update (const std::deque< support_state_t > &SupportStates_deq, const std::deque< FootAbsolutePosition > &LeftFootTraj_deq, const std::deque< FootAbsolutePosition > &RightFootTraj_deq)
	Update feet matrices. More...
int	compute_dyn_cjerk ()
	Initialize dynamics of the body center Suppose a piecewise constant jerk. More...
int	generate_trajectories (double time, const solution_t &Result, const std::deque< support_state_t > &SupportStates_deq, const std::deque< double > &PreviewedSupportAngles_deq, std::deque< FootAbsolutePosition > &LeftFootTraj_deq, std::deque< FootAbsolutePosition > &RightFootTraj_deq)
	Generate final trajectories. More...
Accessors and mutators
linear_dynamics_t const &	DynamicsCoPJerk () const
linear_dynamics_t &	DynamicsCoPJerk ()
RigidBody const &	CoM () const
void	CoM (const RigidBody &CoM)
RigidBody const &	LeftFoot () const
RigidBody &	LeftFoot ()
void	LeftFoot (const RigidBody &LeftFoot)
RigidBody const &	RightFoot () const
RigidBody &	RightFoot ()
void	RightFoot (const RigidBody &RightFoot)
double	SamplingPeriodSim () const
void	SamplingPeriodSim (double T)
double	SamplingPeriodAct () const
void	SamplingPeriodAct (double Ta)
unsigned	NbSamplingsPreviewed () const
void	NbSamplingsPreviewed (unsigned N)
double	Mass () const
void	Mass (double Mass)
double	CoMHeight () const
void	CoMHeight (double Height)
bool	multiBody () const
void	multiBody (bool multiBody)
std::deque< support_state_t > &	SupportTrajectory ()

Constructor & Destructor Documentation

RigidBodySystem::RigidBodySystem	(	SimplePluginManager *	SPM,
		PinocchioRobot *	aPR,
		SupportFSM *	FSM
	)

RigidBodySystem::~RigidBodySystem

(

)

Member Function Documentation

RigidBody const& PatternGeneratorJRL::RigidBodySystem::CoM ( ) const

inline

Referenced by CoM().

void PatternGeneratorJRL::RigidBodySystem::CoM ( const RigidBody &  CoM )

inline

References CoM().

double PatternGeneratorJRL::RigidBodySystem::CoMHeight ( ) const

inline

void PatternGeneratorJRL::RigidBodySystem::CoMHeight ( double  Height )

inline

int RigidBodySystem::compute_dyn_cjerk

(

)

Initialize dynamics of the body center Suppose a piecewise constant jerk.

return 0

References generate_trajectories(), i, j, PatternGeneratorJRL::linear_dynamics_s::S, PatternGeneratorJRL::linear_dynamics_s::Type, PatternGeneratorJRL::linear_dynamics_s::U, and PatternGeneratorJRL::linear_dynamics_s::UT.

Referenced by SupportTrajectory().

linear_dynamics_t const& PatternGeneratorJRL::RigidBodySystem::DynamicsCoPJerk ( ) const

inline

linear_dynamics_t& PatternGeneratorJRL::RigidBodySystem::DynamicsCoPJerk ( )

inline

int RigidBodySystem::generate_trajectories	(	double	time,
		const solution_t &	Result,
		const std::deque< support_state_t > &	SupportStates_deq,
		const std::deque< double > &	PreviewedSupportAngles_deq,
		std::deque< FootAbsolutePosition > &	LeftFootTraj_deq,
		std::deque< FootAbsolutePosition > &	RightFootTraj_deq
	)

Generate final trajectories.

Parameters

[in]	time	Current time
[in]	CurrentSupport
[in]	Result	Optimization result
[in]	SupportStates_deq
[in]	PreviewedSupportAngles_deq
[out]	LeftFootTraj_deq
[out]	RightFootTraj_deq	return 0

Referenced by compute_dyn_cjerk().

void RigidBodySystem::initialize

(

)

Initialize.

References i, j, and update().

int PatternGeneratorJRL::RigidBodySystem::interpolate	(	solution_t	Result,
		std::deque< ZMPPosition > &	FinalZMPTraj_deq,
		std::deque< COMState > &	FinalCOMTraj_deq,
		std::deque< FootAbsolutePosition > &	FinalLeftFootTraj_deq,
		std::deque< FootAbsolutePosition > &	FinalRightFootTraj_deq
	)

Interpolate.

Parameters

[in]	Result	Optimization result
[in]	FinalZMPTraj_deq
[in]	FinalCOMTraj_deq
[in]	FinalLeftFootTraj_deq
[in]	FinalRightFootTraj_deq

Returns

0

RigidBody const& PatternGeneratorJRL::RigidBodySystem::LeftFoot ( ) const

inline

Referenced by LeftFoot().

RigidBody& PatternGeneratorJRL::RigidBodySystem::LeftFoot ( )

inline

void PatternGeneratorJRL::RigidBodySystem::LeftFoot ( const RigidBody &  LeftFoot )

inline

References LeftFoot().

double PatternGeneratorJRL::RigidBodySystem::Mass ( ) const

inline

Referenced by Mass().

void PatternGeneratorJRL::RigidBodySystem::Mass ( double  Mass )

inline

References Mass().

bool PatternGeneratorJRL::RigidBodySystem::multiBody ( ) const

inline

Referenced by multiBody().

void PatternGeneratorJRL::RigidBodySystem::multiBody ( bool  multiBody )

inline

References multiBody().

unsigned PatternGeneratorJRL::RigidBodySystem::NbSamplingsPreviewed ( ) const

inline

void PatternGeneratorJRL::RigidBodySystem::NbSamplingsPreviewed ( unsigned  N )

inline

RigidBody const& PatternGeneratorJRL::RigidBodySystem::RightFoot ( ) const

inline

Referenced by RightFoot().

RigidBody& PatternGeneratorJRL::RigidBodySystem::RightFoot ( )

inline

void PatternGeneratorJRL::RigidBodySystem::RightFoot ( const RigidBody &  RightFoot )

inline

References RightFoot().

double PatternGeneratorJRL::RigidBodySystem::SamplingPeriodAct ( ) const

inline

void PatternGeneratorJRL::RigidBodySystem::SamplingPeriodAct ( double  Ta )

inline

double PatternGeneratorJRL::RigidBodySystem::SamplingPeriodSim ( ) const

inline

void PatternGeneratorJRL::RigidBodySystem::SamplingPeriodSim ( double  T )

inline

std::deque<support_state_t>& PatternGeneratorJRL::RigidBodySystem::SupportTrajectory ( )

inline

References compute_dyn_cjerk().

int RigidBodySystem::update	(	const std::deque< support_state_t > &	SupportStates_deq,
		const std::deque< FootAbsolutePosition > &	LeftFootTraj_deq,
		const std::deque< FootAbsolutePosition > &	RightFootTraj_deq
	)

Update feet matrices.

Parameters

[in]	SupportStates_deq	Previewed support states
[in]	LeftFootTraj_deq	Final foot trajectory (left foot)
[in]	RightFootTraj_deq	Final foot trajectory (right foot)

Returns

0

References i, and res.

Referenced by initialize().