#include <jrl/walkgen/patterngeneratorinterface.hh>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PatternGeneratorInterface (PinocchioRobot *)

virtual	~PatternGeneratorInterface ()

virtual void	AddStepInStack (double dx, double dy, double theta)=0
	Function to specify steps in the stack of the walking pattern generator. This method is different AddOnLineStep which is the default step add when there is no policy, or no step available. More...

virtual void	CommonInitializationOfWalking (COMState &lStartingCOMState, Eigen::Vector3d &lStartingZMPPosition, Eigen::VectorXd &BodyAnglesIni, FootAbsolutePosition &InitLeftFootAbsPos, FootAbsolutePosition &InitRightFootAbsPos, std::deque< RelativeFootPosition > &lRelativeFootPositions, std::vector< double > &lCurrentJointValues, bool ClearStepStackHandler)=0

virtual void	SetCurrentJointValues (Eigen::VectorXd &lCurrentJointValues)=0

virtual int	GetWalkMode () const =0
	Returns the walking mode. More...

virtual void	GetLegJointVelocity (Eigen::VectorXd &dqr, Eigen::VectorXd &dql) const =0
	Get the leg joint velocity. More...

virtual void	ReadSequenceOfSteps (std::istringstream &strm)=0
	Read a sequence of steps. More...

virtual void	setZMPInitialPoint (Eigen::Vector3d &lZMPInitialPoint)=0
	Set the initial ZMP reference point. More...

virtual void	getZMPInitialPoint (Eigen::Vector3d &lZMPInitialPoint) const =0
	Get the initial ZMP reference point. More...

virtual void	EvaluateStartingState (COMState &lStartingCOMState, Eigen::Vector3d &lStartingZMPPosition, Eigen::Matrix< double, 6, 1 > &lStartingWaistPose, FootAbsolutePosition &InitLeftFootAbsPos, FootAbsolutePosition &InitRightFootAbsPos)=0
	Returns the ZMP, CoM, left foot absolute position, and right foot absolute position for the initiale pose. More...

virtual void	setVelocityReference (double x, double y, double yaw)=0
	Set velocity reference This method is only supported by Herdt's algorithm. Currently only a 3D speed is supported: More...

virtual void	setCoMPerturbationForce (double x, double y)=0
	Set velocity reference. More...

Methods for the control part.
virtual bool	RunOneStepOfTheControlLoop (Eigen::VectorXd &CurrentConfiguration, Eigen::VectorXd &CurrentVelocity, Eigen::VectorXd &CurrentAcceleration, Eigen::VectorXd &ZMPTarget)=0
	Run One Step of the global control loop aka The Main Method To Be Used. More...

virtual bool	RunOneStepOfTheControlLoop (Eigen::VectorXd &CurrentConfiguration, Eigen::VectorXd &CurrentVelocity, Eigen::VectorXd &CurrentAcceleration, Eigen::VectorXd &ZMPTarget, COMPosition &COMPosition, FootAbsolutePosition &LeftFootPosition, FootAbsolutePosition &RightFootPosition)=0
	Run One Step of the global control loop aka The Main Method To Be Used. More...

virtual bool	RunOneStepOfTheControlLoop (Eigen::VectorXd &CurrentConfiguration, Eigen::VectorXd &CurrentVelocity, Eigen::VectorXd &CurrentAcceleration, Eigen::VectorXd &ZMPTarget, COMState &COMState, FootAbsolutePosition &LeftFootPosition, FootAbsolutePosition &RightFootPosition)=0
	Run One Step of the global control loop aka The Main Method To Be Used. More...

virtual bool	RunOneStepOfTheControlLoop (FootAbsolutePosition &LeftFootPosition, FootAbsolutePosition &RightFootPosition, ZMPPosition &ZMPRefPos, COMPosition &COMRefPos)=0
	Run One Step of the global control loop aka The Main Method To Be Used. More...

virtual bool	RunOneStepOfTheControlLoop (ControlLoopOneStepArgs &aControlLoopOneStepArgs)=0
	Rune One Step of the global control loop. More...

On-line steps related methods
virtual void	StartOnLineStepSequencing ()=0
	Start the creation of steps on line. More...

virtual void	StopOnLineStepSequencing ()=0
	Stop the creation of steps on line. More...

virtual void	AddOnLineStep (double X, double Y, double Theta)=0
	Add an online step. More...

virtual int	ChangeOnLineStep (double Time, FootAbsolutePosition &aFootAbsolutePosition, double &newtime)=0
	Change online step. The strategy is the following: the step in single support phase at time t has its landing position changed to \( (X,Y,\theta) \) in absolute coordinates (i.e. in the world reference frame of the free flyer of the robot). For stability reason there is no guarantee that this method can realized the operation. Please see the documentation of the walking pattern generator algorithm used. More...

virtual void	ChangeOnLineStep (std::istringstream &strm, double &newtime)=0
	Change online step. See the above method for the specifications. This method uses a different format with stream of strings. More...

For internal odometry.
virtual void	UpdateAbsolutePosition (bool UpdateAbsMotionOrNot)=0
	Update the current waist absolute position. More...

virtual void	getWaistPositionAndOrientation (double TQ[7], double &Orientation) const =0
	Get the waist position and orientation as a quaternion, and the planar X-Y orientation in Orientation. More...

virtual void	setWaistPositionAndOrientation (double TQ[7])=0
	Set Waist position and Orientation More...

virtual void	getWaistVelocity (double &dx, double &dy, double &omega) const =0
	Get Waist velocity. More...

virtual void	getWaistPositionMatrix (Eigen::Matrix4d &lWaistAbsPos) const =0
	An other method to get the waist position using a matrix. More...

System to call a given method based on registration of a method.
virtual int	ParseCmd (std::istringstream &strm)=0
	Parse a command (to be used out of a plugin) and call all objects which registered the method. More...

Detailed Description

This class is the interface between the Pattern Generator and the external world. In addition to the classical setter and getter for various parameters there is the possibility to pass commands a string of stream to the method ParseCmd().

There is a set of functionnalities directly supported by the API:

Constructor & Destructor Documentation

◆ PatternGeneratorInterface()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW PatternGeneratorJRL::PatternGeneratorInterface::PatternGeneratorInterface ( PinocchioRobot * )

inline

Constructor

Parameters

strm	Should provide the file to initialize the preview control, the path to the VRML model, and the name of the file containing the VRML model.

◆ ~PatternGeneratorInterface()

virtual PatternGeneratorJRL::PatternGeneratorInterface::~PatternGeneratorInterface ( )

inlinevirtual

Destructor

Member Function Documentation

◆ AddOnLineStep()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::AddOnLineStep	(	double	X,
		double	Y,
		double	Theta
	)

pure virtual

Add an online step.

◆ AddStepInStack()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::AddStepInStack	(	double	dx,
		double	dy,
		double	theta
	)

pure virtual

Function to specify steps in the stack of the walking pattern generator. This method is different AddOnLineStep which is the default step add when there is no policy, or no step available.

◆ ChangeOnLineStep() [1/2]

virtual int PatternGeneratorJRL::PatternGeneratorInterface::ChangeOnLineStep	(	double	Time,
		FootAbsolutePosition &	aFootAbsolutePosition,
		double &	newtime
	)

pure virtual

Change online step. The strategy is the following: the step in single support phase at time t has its landing position changed to \( (X,Y,\theta) \) in absolute coordinates (i.e. in the world reference frame of the free flyer of the robot). For stability reason there is no guarantee that this method can realized the operation. Please see the documentation of the walking pattern generator algorithm used.

If the time falls during a double support phase, the next single support phase is chosen.

Parameters

[in]	Time	Time information of the step.
[in]	aFootAbsolutePosition	Absolute position of the foot.

Returns: If the operation failed the method returns a negative number related to an error, 0 otherwise.

◆ ChangeOnLineStep() [2/2]

virtual void PatternGeneratorJRL::PatternGeneratorInterface::ChangeOnLineStep	(	std::istringstream &	strm,
		double &	newtime
	)

pure virtual

Change online step. See the above method for the specifications. This method uses a different format with stream of strings.

Parameters

[in] Time Time information of the step.

Returns: nothing

◆ CommonInitializationOfWalking()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::CommonInitializationOfWalking	(	COMState &	lStartingCOMState,
		Eigen::Vector3d &	lStartingZMPPosition,
		Eigen::VectorXd &	BodyAnglesIni,
		FootAbsolutePosition &	InitLeftFootAbsPos,
		FootAbsolutePosition &	InitRightFootAbsPos,
		std::deque< RelativeFootPosition > &	lRelativeFootPositions,
		std::vector< double > &	lCurrentJointValues,
		bool	ClearStepStackHandler
	)

pure virtual

Common Initialization of walking.

Parameters

[out]	lStartingCOMPosition	For the starting position on the articular space, returns the COM position.
[out]	lStartingZMPPosition	For the starting position on the articular space, returns the ZMP position.
[out]	BodyAnglesIni	Basically it is a copy of CurrentJointValues but as a vector.
[out]	InitLeftFootAbsPos	Returns the current absolute position of the left foot for the given posture of the robot.
[out]	InitRightFootAbsPos	Returns the current absolute position of the right foot for the given posture of the robot.
[out]	lRelativeFootPositions	List of relative positions for the support foot still in the stack of steps.
[in]	lCurrentJointValues	The vector of articular values in classical C++ style.
[in]	ClearStepStackHandler	Clean the stack of steps after copy.

◆ EvaluateStartingState()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::EvaluateStartingState	(	COMState &	lStartingCOMState,
		Eigen::Vector3d &	lStartingZMPPosition,
		Eigen::Matrix< double, 6, 1 > &	lStartingWaistPose,
		FootAbsolutePosition &	InitLeftFootAbsPos,
		FootAbsolutePosition &	InitRightFootAbsPos
	)

pure virtual

Returns the ZMP, CoM, left foot absolute position, and right foot absolute position for the initiale pose.

◆ GetLegJointVelocity()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::GetLegJointVelocity	(	Eigen::VectorXd &	dqr,
		Eigen::VectorXd &	dql
	)		const

pure virtual

Get the leg joint velocity.

◆ getWaistPositionAndOrientation()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::getWaistPositionAndOrientation	(	double	TQ[7],
		double &	Orientation
	)		const

pure virtual

Get the waist position and orientation as a quaternion, and the planar X-Y orientation in Orientation.

◆ getWaistPositionMatrix()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::getWaistPositionMatrix ( Eigen::Matrix4d & lWaistAbsPos ) const

pure virtual

An other method to get the waist position using a matrix.

◆ getWaistVelocity()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::getWaistVelocity	(	double &	dx,
		double &	dy,
		double &	omega
	)		const

pure virtual

Get Waist velocity.

◆ GetWalkMode()

virtual int PatternGeneratorJRL::PatternGeneratorInterface::GetWalkMode ( ) const

pure virtual

Returns the walking mode.

◆ getZMPInitialPoint()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::getZMPInitialPoint ( Eigen::Vector3d & lZMPInitialPoint ) const

pure virtual

Get the initial ZMP reference point.

◆ ParseCmd()

virtual int PatternGeneratorJRL::PatternGeneratorInterface::ParseCmd ( std::istringstream & strm )

pure virtual

Parse a command (to be used out of a plugin) and call all objects which registered the method.

◆ ReadSequenceOfSteps()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::ReadSequenceOfSteps ( std::istringstream & strm )

pure virtual

Read a sequence of steps.

◆ RunOneStepOfTheControlLoop() [1/5]

virtual bool PatternGeneratorJRL::PatternGeneratorInterface::RunOneStepOfTheControlLoop ( ControlLoopOneStepArgs & aControlLoopOneStepArgs )

pure virtual

Rune One Step of the global control loop.

◆ RunOneStepOfTheControlLoop() [2/5]

virtual bool PatternGeneratorJRL::PatternGeneratorInterface::RunOneStepOfTheControlLoop	(	Eigen::VectorXd &	CurrentConfiguration,
		Eigen::VectorXd &	CurrentVelocity,
		Eigen::VectorXd &	CurrentAcceleration,
		Eigen::VectorXd &	ZMPTarget
	)

pure virtual

Run One Step of the global control loop aka The Main Method To Be Used.

Parameters

[out]	CurrentConfiguration	The current configuration of the robot according to the implementation of dynamic-JRLJapan. This should be first position and orientation of the waist, and then all the DOFs of your robot.
[out]	CurrentVelocity	The current velocity of the robot according to the the implementation of dynamic-JRLJapan.
[out]	CurrentAcceleration	The current acceleration of the robot according to the the implementation of dynamic-JRLJapan.
[out]	ZMPTarget	The target ZMP in the waist reference frame.

Returns: True is there is still some data to send, false otherwise.

◆ RunOneStepOfTheControlLoop() [3/5]

virtual bool PatternGeneratorJRL::PatternGeneratorInterface::RunOneStepOfTheControlLoop	(	Eigen::VectorXd &	CurrentConfiguration,
		Eigen::VectorXd &	CurrentVelocity,
		Eigen::VectorXd &	CurrentAcceleration,
		Eigen::VectorXd &	ZMPTarget,
		COMPosition &	COMPosition,
		FootAbsolutePosition &	LeftFootPosition,
		FootAbsolutePosition &	RightFootPosition
	)

pure virtual

Run One Step of the global control loop aka The Main Method To Be Used.

Parameters

[out]	CurrentConfiguration	The current configuration of the robot according to the implementation of dynamic-JRLJapan. This should be first position and orientation of the waist, and then all the DOFs of your robot.
[out]	CurrentVelocity	The current velocity of the robot according to the the implementation of dynamic-JRLJapan.
[out]	CurrentAcceleration	The current acceleration of the robot according to the the implementation of dynamic-JRLJapan.
[out]	ZMPTarget	The target ZMP in the waist reference frame.
[out]	COMPosition	The CoM position for this motion.
[out]	LeftFootPosition	Absolute position of the left foot.
[out]	RightFootPosition	Absolute position of the right foot.

Returns: True is there is still some data to send, false otherwise.

◆ RunOneStepOfTheControlLoop() [4/5]

virtual bool PatternGeneratorJRL::PatternGeneratorInterface::RunOneStepOfTheControlLoop	(	Eigen::VectorXd &	CurrentConfiguration,
		Eigen::VectorXd &	CurrentVelocity,
		Eigen::VectorXd &	CurrentAcceleration,
		Eigen::VectorXd &	ZMPTarget,
		COMState &	COMState,
		FootAbsolutePosition &	LeftFootPosition,
		FootAbsolutePosition &	RightFootPosition
	)

pure virtual

Run One Step of the global control loop aka The Main Method To Be Used.

Parameters

[out]	CurrentConfiguration	The current configuration of the robot according to the implementation of dynamic-JRLJapan. This should be first position and orientation of the waist, and then all the DOFs of your robot.
[out]	CurrentVelocity	The current velocity of the robot according to the the implementation of dynamic-JRLJapan.
[out]	CurrentAcceleration	The current acceleration of the robot according to the the implementation of dynamic-JRLJapan.
[out]	ZMPTarget	The target ZMP in the waist reference frame.
[out]	COMState	The CoM state (up to the acceleration) for this motion.
[out]	LeftFootPosition	Absolute position of the left foot.
[out]	RightFootPosition	Absolute position of the right foot.

Returns: True is there is still some data to send, false otherwise.

◆ RunOneStepOfTheControlLoop() [5/5]

virtual bool PatternGeneratorJRL::PatternGeneratorInterface::RunOneStepOfTheControlLoop	(	FootAbsolutePosition &	LeftFootPosition,
		FootAbsolutePosition &	RightFootPosition,
		ZMPPosition &	ZMPRefPos,
		COMPosition &	COMRefPos
	)

pure virtual

Run One Step of the global control loop aka The Main Method To Be Used.

Parameters

[out]	LeftFootPosition	Absolute position of the left foot.
[out]	RightFootPosition	Absolute position of the right foot.
[out]	ZMPRefPos	ZMP position new reference
[out]	COMRefPos	COM position new reference.

Returns: True is there is still some data to send, false otherwise.

◆ setCoMPerturbationForce()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::setCoMPerturbationForce	(	double	x,
		double	y
	)

pure virtual

Set velocity reference.

Parameters

x	Additive acceleration along the saggital plane.
y	Additive acceleration along the lateral plane.

◆ SetCurrentJointValues()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::SetCurrentJointValues ( Eigen::VectorXd & lCurrentJointValues )

pure virtual

Set the current joint values of the robot. This method is used to properly initialize the pattern generator. It also updates the state of the robot if other control mechanisms modifies the upper body part and if this should be taken into account into the pattern generator in the second loop of control.

◆ setVelocityReference()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::setVelocityReference	(	double	x,
		double	y,
		double	yaw
	)

pure virtual

Set velocity reference This method is only supported by Herdt's algorithm. Currently only a 3D speed is supported:

Parameters

x	Velocity along the saggital plane.
y	Velocity along the perpendicular plane.
yaw	Angular velocity in the x-y plane.

◆ setWaistPositionAndOrientation()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::setWaistPositionAndOrientation ( double TQ[7] )

pure virtual

Set Waist position and Orientation

◆ setZMPInitialPoint()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::setZMPInitialPoint ( Eigen::Vector3d & lZMPInitialPoint )

pure virtual

Set the initial ZMP reference point.

◆ StartOnLineStepSequencing()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::StartOnLineStepSequencing ( )

pure virtual

Start the creation of steps on line.

◆ StopOnLineStepSequencing()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::StopOnLineStepSequencing ( )

pure virtual

Stop the creation of steps on line.

◆ UpdateAbsolutePosition()

virtual void PatternGeneratorJRL::PatternGeneratorInterface::UpdateAbsolutePosition ( bool UpdateAbsMotionOrNot )

pure virtual

Update the current waist absolute position.

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

include/jrl/walkgen/patterngeneratorinterface.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PatternGeneratorInterface()

◆ ~PatternGeneratorInterface()

Member Function Documentation

◆ AddOnLineStep()

◆ AddStepInStack()

◆ ChangeOnLineStep() [1/2]

◆ ChangeOnLineStep() [2/2]

◆ CommonInitializationOfWalking()

◆ EvaluateStartingState()

◆ GetLegJointVelocity()

◆ getWaistPositionAndOrientation()

◆ getWaistPositionMatrix()

◆ getWaistVelocity()

◆ GetWalkMode()

◆ getZMPInitialPoint()

◆ ParseCmd()

◆ ReadSequenceOfSteps()

◆ RunOneStepOfTheControlLoop() [1/5]

◆ RunOneStepOfTheControlLoop() [2/5]

◆ RunOneStepOfTheControlLoop() [3/5]

◆ RunOneStepOfTheControlLoop() [4/5]

◆ RunOneStepOfTheControlLoop() [5/5]

◆ setCoMPerturbationForce()

◆ SetCurrentJointValues()

◆ setVelocityReference()

◆ setWaistPositionAndOrientation()

◆ setZMPInitialPoint()

◆ StartOnLineStepSequencing()

◆ StopOnLineStepSequencing()

◆ UpdateAbsolutePosition()