\doc Simulate a rigid body More...

Namespaces
	pinocchio_robot

Classes
class	AnalyticalZMPCOGTrajectory

class	Bsplines

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	ControlLoopOneStepArgs

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 : More...

class	PatternGeneratorInterface

class	PinocchioRobot

struct	PinocchioRobotFoot_t

class	Polynome

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

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

class	ZMPPreviewControlWithMultiBodyZMP

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

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)

std::ostream &	operator<< (std::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

\doc Simulate a rigid body

STL includes

Framework includes

Typedef Documentation

◆ Circle

typedef struct Circle_t PatternGeneratorJRL::Circle

◆ COMPosition

typedef struct COMPosition_s PatternGeneratorJRL::COMPosition

◆ COMState

typedef struct COMState_s PatternGeneratorJRL::COMState

◆ ConvexHullList

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

◆ FootAbsolutePosition

typedef struct FootAbsolutePosition_t PatternGeneratorJRL::FootAbsolutePosition

◆ HandAbsolutePosition

typedef struct HandAbsolutePosition_t PatternGeneratorJRL::HandAbsolutePosition

◆ linear_dynamics_t

typedef linear_dynamics_s PatternGeneratorJRL::linear_dynamics_t

◆ LinearConstraintInequality_t

typedef struct LinearConstraintInequality_s PatternGeneratorJRL::LinearConstraintInequality_t

◆ LinearConstraintInequalityFreeFeet_t

typedef struct LinearConstraintInequalityFreeFeet_s PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t

◆ PRFoot

typedef PinocchioRobotFoot_t PatternGeneratorJRL::PRFoot

◆ ReferenceAbsoluteVelocity

typedef struct ReferenceAbsoluteVelocity_t PatternGeneratorJRL::ReferenceAbsoluteVelocity

◆ RelativeFootPosition

typedef struct RelativeFootPosition_s PatternGeneratorJRL::RelativeFootPosition

◆ rigid_body_state_t

typedef struct rigid_body_state_s PatternGeneratorJRL::rigid_body_state_t

◆ SupportFeet_t

typedef struct SupportFeet_s PatternGeneratorJRL::SupportFeet_t

◆ WaistState

typedef struct COMPosition_s PatternGeneratorJRL::WaistState

◆ ZMPPosition

typedef struct ZMPPosition_s PatternGeneratorJRL::ZMPPosition

Function Documentation

◆ CompareCBRep()

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

◆ DistanceCHRep()

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

◆ operator<<() [1/11]

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

◆ operator<<() [2/11]

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

◆ operator<<() [3/11]

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

◆ operator<<() [4/11]

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

inline

◆ operator<<() [5/11]

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

inline

◆ operator<<() [6/11]

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

inline

◆ operator<<() [7/11]

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

inline

◆ operator<<() [8/11]

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

inline

◆ operator<<() [9/11]

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

inline

◆ operator<<() [10/11]

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

inline

◆ operator<<() [11/11]

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

inline

◆ patternGeneratorInterfaceFactory()

WALK_GEN_JRL_EXPORT PatternGeneratorInterface* PatternGeneratorJRL::patternGeneratorInterfaceFactory ( PinocchioRobot * )

Factory of Pattern generator interface.

Variable Documentation

◆ HRP2CIO_GlobalP0

CH_Point PatternGeneratorJRL::HRP2CIO_GlobalP0

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ Circle

◆ COMPosition

◆ COMState

◆ ConvexHullList

◆ FootAbsolutePosition

◆ HandAbsolutePosition

◆ linear_dynamics_t

◆ LinearConstraintInequality_t

◆ LinearConstraintInequalityFreeFeet_t

◆ PRFoot

◆ ReferenceAbsoluteVelocity

◆ RelativeFootPosition

◆ rigid_body_state_t

◆ SupportFeet_t

◆ WaistState

◆ ZMPPosition

Function Documentation

◆ CompareCBRep()

◆ DistanceCHRep()

◆ operator<<() [1/11]

◆ operator<<() [2/11]

◆ operator<<() [3/11]

◆ operator<<() [4/11]

◆ operator<<() [5/11]

◆ operator<<() [6/11]

◆ operator<<() [7/11]

◆ operator<<() [8/11]

◆ operator<<() [9/11]

◆ operator<<() [10/11]

◆ operator<<() [11/11]

◆ patternGeneratorInterfaceFactory()

Variable Documentation

◆ HRP2CIO_GlobalP0