Simulate a rigid body More...

Namespaces
	pinocchio_robot

Classes
class	AnalyticalZMPCOGTrajectory

class	Bsplines
	Bspline class. More...

class	BSplinesFoot
	Bsplines used for Z trajectory of stair steps. More...

struct	CH_Point

struct	Circle_t
	Structure to model a circle (e.g : a stricly convex obstable) More...

struct	COMPosition_s
	Structure to store the COM position computed by the preview control. More...

class	ComputeConvexHull

struct	COMState_s
	Structure to store the COM state computed by the preview control. More...

struct	FootAbsolutePosition_t
	Structure to store the absolute foot position. More...

class	FootConstraintsAsLinearSystem

class	FootHalfSize

struct	HandAbsolutePosition_t
	Structure to store the absolute foot position. More...

class	IntermedQPMat
	Custom (value based) container providing intermediate elements for the construction of a QP. More...

struct	linear_dynamics_s

struct	LinearConstraintInequality_s

struct	LinearConstraintInequalityFreeFeet_s
	Linear constraints with variable feet placement. More...

class	LinearizedInvertedPendulum2D

struct	ltCH_Point

class	OptimalControllerSolver
	This class computes the gains for preview control for a given discrete system. The discrete system is defined by three matrix A, b, c such as : \begin{eqnarray} {\bf x}_{k+1} & =& {\bf A} x_k + {\bf b} u_k \\ p_k &=& {\bf cx}_k\\ \end{eqnarray} . More...

class	PatternGeneratorInterface
	This class is the interface between the Pattern Generator and the external world. More...

class	PinocchioRobot

struct	PinocchioRobotFoot_t

class	Polynome
	Class for computing trajectories. More...

class	Polynome3
	Polynome used for X,Y and Theta trajectories. More...

class	Polynome4
	Polynome used for Z trajectory. More...

class	Polynome5
	Polynome used for X,Y and Theta trajectories. More...

class	Polynome6
	Polynome used for Z trajectory. More...

class	Polynome7
	Polynome used for X,Y and Theta trajectories. More...

class	PolynomeFoot

class	PreviewControl
	Class to implement the preview control. More...

struct	ReferenceAbsoluteVelocity_t
	Structure to store the absolute reference. More...

class	RelativeFeetInequalities
	Generate a stack of inequalities relative to feet centers for the whole preview window. More...

struct	RelativeFootPosition_s
	Structure to store each foot position when the user is specifying a sequence of relative positions. More...

struct	rigid_body_state_s
	State vectors. More...

class	RigidBody

class	RigidBodySystem

class	StepOverClampedCubicSpline

class	StepOverPolynomeFoot
	Polynome used for Z trajectory during stepover. More...

class	StepOverPolynomeFootXtoTime
	Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX. More...

class	StepOverPolynomeFootZtoX
	Polynome used for Z trajectory during stepover. More...

class	StepOverPolynomeHip4
	Polynome for the hip trajectory. More...

class	StepOverSpline
	spline function calculation class to calculate cubic splines More...

struct	SupportFeet_s

class	SupportFSM
	Finite state machine to determine the support parameters. More...

struct	ZMPPosition_s
	Structure to store each of the ZMP value, with a given direction at a certain time. More...

class	ZMPPreviewControlWithMultiBodyZMP
	Object to generate the angle positions every 5 ms from a set of absolute foot positions. More...

Typedefs
typedef struct COMPosition_s	COMPosition

typedef struct COMPosition_s	WaistState

typedef struct COMState_s	COMState

typedef struct RelativeFootPosition_s	RelativeFootPosition

typedef struct ZMPPosition_s	ZMPPosition

typedef struct FootAbsolutePosition_t	FootAbsolutePosition

typedef struct HandAbsolutePosition_t	HandAbsolutePosition

typedef struct LinearConstraintInequality_s	LinearConstraintInequality_t

typedef struct LinearConstraintInequalityFreeFeet_s	LinearConstraintInequalityFreeFeet_t

typedef struct SupportFeet_s	SupportFeet_t

typedef struct ReferenceAbsoluteVelocity_t	ReferenceAbsoluteVelocity

typedef struct Circle_t	Circle

typedef PinocchioRobotFoot_t	PRFoot

typedef std::vector< CH_Point >	ConvexHullList

typedef struct rigid_body_state_s	rigid_body_state_t

Dynamics matrices
typedef linear_dynamics_s	linear_dynamics_t

Functions
WALK_GEN_JRL_EXPORT PatternGeneratorInterface *	patternGeneratorInterfaceFactory (PinocchioRobot *)

std::ostream &	operator<< (std::ostream &os, const COMPosition_s &aCp)

std::ostream &	operator<< (std::ostream &os, const RelativeFootPosition_s &rfp)

std::ostream &	operator<< (std::ostream &os, const ZMPPosition_s &zmp)

std::ostream &	operator<< (std::ostream &os, const FootAbsolutePosition &fap)

std::ostream &	operator<< (std::ostream &os, const HandAbsolutePosition &hap)

std::ostream &	operator<< (std::ostream &os, const SupportFeet_s &sf)

std::ostream &	operator<< (std::ostream &os, const ReferenceAbsoluteVelocity_t &rav)

std::ostream &	operator<< (std::ostream &os, const Circle_t &circle)

ostream &	operator<< (ostream &os, const AnalyticalZMPCOGTrajectory &obj)

void	DistanceCHRep (CH_Point &s1, CH_Point &s2, double &distance1, double &distance2)

double	CompareCBRep (CH_Point &s1, CH_Point &s2)

std::ostream &	operator<< (std::ostream &o, const IntermedQPMat::objective_variant_s &r)

Variables
CH_Point	HRP2CIO_GlobalP0

Detailed Description

Simulate a rigid body

STL includes

Framework includes

Typedef Documentation

typedef struct Circle_t PatternGeneratorJRL::Circle

typedef struct COMPosition_s PatternGeneratorJRL::COMPosition

typedef struct COMState_s PatternGeneratorJRL::COMState

typedef std::vector<CH_Point> PatternGeneratorJRL::ConvexHullList

typedef struct FootAbsolutePosition_t PatternGeneratorJRL::FootAbsolutePosition

typedef struct HandAbsolutePosition_t PatternGeneratorJRL::HandAbsolutePosition

typedef linear_dynamics_s PatternGeneratorJRL::linear_dynamics_t

typedef struct LinearConstraintInequality_s PatternGeneratorJRL::LinearConstraintInequality_t

typedef struct LinearConstraintInequalityFreeFeet_s PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t

typedef PinocchioRobotFoot_t PatternGeneratorJRL::PRFoot

typedef struct ReferenceAbsoluteVelocity_t PatternGeneratorJRL::ReferenceAbsoluteVelocity

typedef struct RelativeFootPosition_s PatternGeneratorJRL::RelativeFootPosition

typedef struct rigid_body_state_s PatternGeneratorJRL::rigid_body_state_t

typedef struct SupportFeet_s PatternGeneratorJRL::SupportFeet_t

typedef struct COMPosition_s PatternGeneratorJRL::WaistState

typedef struct ZMPPosition_s PatternGeneratorJRL::ZMPPosition

Function Documentation

double PatternGeneratorJRL::CompareCBRep	(	CH_Point &	s1,
		CH_Point &	s2
	)

References PatternGeneratorJRL::CH_Point::col, and PatternGeneratorJRL::CH_Point::row.

Referenced by PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull().

void PatternGeneratorJRL::DistanceCHRep	(	CH_Point &	s1,
		CH_Point &	s2,
		double &	distance1,
		double &	distance2
	)

References PatternGeneratorJRL::CH_Point::col, and PatternGeneratorJRL::CH_Point::row.

Referenced by PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull().

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	os,
		const COMPosition_s &	aCp
	)

inline

References i, PatternGeneratorJRL::COMPosition_s::pitch, PatternGeneratorJRL::COMPosition_s::roll, PatternGeneratorJRL::COMPosition_s::x, PatternGeneratorJRL::COMPosition_s::y, PatternGeneratorJRL::COMPosition_s::yaw, and PatternGeneratorJRL::COMPosition_s::z.

Referenced by PatternGeneratorJRL::IntermedQPMat::SupportState().

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	os,
		const RelativeFootPosition_s &	rfp
	)

inline

References PatternGeneratorJRL::RelativeFootPosition_s::sx.

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	os,
		const ZMPPosition_s &	zmp
	)

inline

References PatternGeneratorJRL::ZMPPosition_s::px, PatternGeneratorJRL::ZMPPosition_s::pz, PatternGeneratorJRL::ZMPPosition_s::stepType, PatternGeneratorJRL::ZMPPosition_s::theta, and PatternGeneratorJRL::ZMPPosition_s::time.

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	os,
		const FootAbsolutePosition &	fap
	)

inline

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	o,
		const IntermedQPMat::objective_variant_s &	r
	)

References PatternGeneratorJRL::IntermedQPMat::objective_variant_s::print().

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	os,
		const HandAbsolutePosition &	hap
	)

inline

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	os,
		const SupportFeet_s &	sf
	)

inline

References PatternGeneratorJRL::SupportFeet_s::StartTime, PatternGeneratorJRL::SupportFeet_s::SupportFoot, PatternGeneratorJRL::SupportFeet_s::theta, PatternGeneratorJRL::SupportFeet_s::x, and PatternGeneratorJRL::SupportFeet_s::y.

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	os,
		const ReferenceAbsoluteVelocity_t &	rav
	)

inline

References PatternGeneratorJRL::ReferenceAbsoluteVelocity_t::x.

std::ostream& PatternGeneratorJRL::operator<<	(	std::ostream &	os,
		const Circle_t &	circle
	)

inline

References PatternGeneratorJRL::Circle_t::r, PatternGeneratorJRL::Circle_t::x_0, and PatternGeneratorJRL::Circle_t::y_0.

std::ostream & PatternGeneratorJRL::operator<<	(	ostream &	os,
		const AnalyticalZMPCOGTrajectory &	obj
	)

References PatternGeneratorJRL::Polynome::GetCoefficients(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfCOGPolynomials(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfZMPPolynomials(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetHyperbolicCoefficients(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetNumberOfIntervals(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetPolynomialDegrees(), i, and j.

WALK_GEN_JRL_EXPORT PatternGeneratorInterface* PatternGeneratorJRL::patternGeneratorInterfaceFactory ( PinocchioRobot * )

Factory of Pattern generator interface.

Referenced by PatternGeneratorJRL::PatternGeneratorInterface::~PatternGeneratorInterface().

Variable Documentation

CH_Point PatternGeneratorJRL::HRP2CIO_GlobalP0

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation