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
const linear_dynamics_t &	DynamicsCoPJerk () const
linear_dynamics_t &	DynamicsCoPJerk ()
const RigidBody &	CoM () const
void	CoM (const RigidBody &CoM)
const RigidBody &	LeftFoot () const
RigidBody &	LeftFoot ()
void	LeftFoot (const RigidBody &LeftFoot)
const RigidBody &	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::RigidBodySystem	(	SimplePluginManager *	SPM,
		PinocchioRobot *	aPR,
		SupportFSM *	FSM
	)

~RigidBodySystem()

RigidBodySystem::~RigidBodySystem

(

)

Member Function Documentation

CoM() [1/2]

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

inline

CoM() [2/2]

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

inline

CoMHeight() [1/2]

double PatternGeneratorJRL::RigidBodySystem::CoMHeight ( ) const

inline

CoMHeight() [2/2]

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

inline

compute_dyn_cjerk()

int RigidBodySystem::compute_dyn_cjerk

(

)

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

return 0

DynamicsCoPJerk() [1/2]

linear_dynamics_t& PatternGeneratorJRL::RigidBodySystem::DynamicsCoPJerk ( )

inline

DynamicsCoPJerk() [2/2]

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

inline

generate_trajectories()

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

initialize()

void RigidBodySystem::initialize

(

)

Initialize.

interpolate()

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

LeftFoot() [1/3]

RigidBody& PatternGeneratorJRL::RigidBodySystem::LeftFoot ( )

inline

LeftFoot() [2/3]

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

inline

LeftFoot() [3/3]

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

inline

Mass() [1/2]

double PatternGeneratorJRL::RigidBodySystem::Mass ( ) const

inline

Mass() [2/2]

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

inline

multiBody() [1/2]

bool PatternGeneratorJRL::RigidBodySystem::multiBody ( ) const

inline

multiBody() [2/2]

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

inline

NbSamplingsPreviewed() [1/2]

unsigned PatternGeneratorJRL::RigidBodySystem::NbSamplingsPreviewed ( ) const

inline

NbSamplingsPreviewed() [2/2]

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

inline

RightFoot() [1/3]

RigidBody& PatternGeneratorJRL::RigidBodySystem::RightFoot ( )

inline

RightFoot() [2/3]

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

inline

RightFoot() [3/3]

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

inline

SamplingPeriodAct() [1/2]

double PatternGeneratorJRL::RigidBodySystem::SamplingPeriodAct ( ) const

inline

SamplingPeriodAct() [2/2]

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

inline

SamplingPeriodSim() [1/2]

double PatternGeneratorJRL::RigidBodySystem::SamplingPeriodSim ( ) const

inline

SamplingPeriodSim() [2/2]

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

inline

SupportTrajectory()

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

inline

update()

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

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

• src/PreviewControl/rigid-body-system.hh
• src/PreviewControl/rigid-body-system.cpp