This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library. More...

#include <sot/pattern-generator/pg.h>

Inheritance diagram for dynamicgraph::sot::PatternGenerator:

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Collaboration diagram for dynamicgraph::sot::PatternGenerator:

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Public Types
typedef int	Dummy

Public Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

	PatternGenerator (const std::string &name="PatternGenerator")
	Default constructor. More...

virtual	~PatternGenerator (void)
	Default destructor. More...

void	initCommands (void)

int	stringToReferenceEnum (const std::string &FrameReference)

void	setReferenceFromString (const std::string &str)

void	addOnLineStep (const double &x, const double &y, const double &th)

void	addStep (const double &x, const double &y, const double &th)

void	pgCommandLine (const std::string &cmdline)

void	useFeedBackSignals (const bool &feedBack)

void	useDynamicFilter (const bool &dynamicFilter)

void	debug (void)

Methods related to the data files.
bool	buildPGI (void)
	Build the pattern generator interface from the parameter "/robot_description" and the informations in "/robot/specifificities/feet/[right\|left]/[size\|anklePosition]. More...

bool	addComplementaryFrames ()
	Add complementary frame. More...

bool	buildReducedModel (void)
	Build the reduced model. More...

void	readFootParameters (std::string &rootFootPath, pg::PRFoot &aFoot)
	readFootParameters More...

bool	InitState (void)
	Initialize the state of the robot. More...

void	setPreviewControlParametersFile (const std::string &filename)
	Set the directory which contains the parameters for the preview control. More...

void	setURDFFile (const std::string &filename)
	Set the path which contains the URDF files robot's model. More...

void	setSRDFFile (const std::string &filename)
	Set the path which contains the SRDF files robot's model. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL. More...

void	setXmlRankFile (const std::string &filename)
	Set the path which contains the Joint Rank model. More...

void	setParamPreviewFile (const std::string &filename)
	Set the name of the file specifying the control parameters of the preview control. More...

void	setSoleParameters (const double &inSoleLength, const double &inSoleWidth)
	Set the foot parameters. More...

void	addJointMapping (const std::string &link, const std::string &repName)
	Set mapping between a link and actual robot name. More...

pg::PatternGeneratorInterface *	GetPatternGeneratorInterface ()
	Give access directly to the pattern generator... You really have to know what your are doing. More...

Public Attributes
SignalTimeDependent< int, int >	contactPhaseSOUT
	Int Vector of support phase: leftFoot=1, rightFoot=-1, doubleSupport=0 (see enum). More...

Internal signals.
SignalTimeDependent< Dummy, int >	firstSINTERN
	Internal signal for initialization and one shot signals. More...

SignalTimeDependent< Dummy, int >	OneStepOfControlS
	Internal signal to trigger one step of the algorithm. More...

External signals
SignalPtr< dynamicgraph::Vector, int >	jointPositionSIN
	Real state position values. More...

SignalPtr< dynamicgraph::Vector, int >	motorControlJointPositionSIN
	Motor control joint position values. More...

SignalPtr< dynamicgraph::Vector, int >	ZMPPreviousControllerSIN
	Previous ZMP value (ZMP send by the preceding controller). More...

SignalTimeDependent< dynamicgraph::Vector, int >	ZMPRefSOUT
	Externalize the ZMP reference . More...

SignalTimeDependent< dynamicgraph::Vector, int >	CoMRefSOUT
	Externalize the CoM reference. More...

SignalTimeDependent< dynamicgraph::Vector, int >	dCoMRefSOUT
	Externalize the CoM reference. More...

SignalTimeDependent< dynamicgraph::Vector, int >	ddCoMRefSOUT

SignalPtr< dynamicgraph::Vector, int >	comSIN
	Take the current CoM. More...

SignalPtr< dynamicgraph::Vector, int >	comStateSIN
	Take the current CoM state (pos, vel, acc). More...

SignalPtr< dynamicgraph::Vector, int >	zmpSIN
	Take the current zmp (x, y, z). More...

SignalPtr< dynamicgraph::Vector, int >	forceSIN
	Take the current external force applied to the com (fx, fy, fz). More...

SignalTimeDependent< dynamicgraph::Vector, int >	forceSOUT

dynamicgraph::Vector	m_initForce

dynamicgraph::Vector	m_currentForces

std::deque< dynamicgraph::Vector >	m_bufferForce

std::vector< double >	m_filterWindow

SignalPtr< dynamicgraph::Vector, int >	velocitydesSIN
	Take the current desired velocity. More...

SignalPtr< bool, int >	triggerSIN
	Take the current trigger to start OneStepOfControl. More...

SignalPtr< MatrixHomogeneous, int >	LeftFootCurrentPosSIN
	Take the current left foot homogeneous position. More...

SignalPtr< MatrixHomogeneous, int >	RightFootCurrentPosSIN
	Take the current right foot homogeneous position. More...

SignalTimeDependent< MatrixHomogeneous, int >	LeftFootRefSOUT
	Externalize the left foot position reference. More...

SignalTimeDependent< MatrixHomogeneous, int >	RightFootRefSOUT
	Externalize the right foot position reference. More...

SignalTimeDependent< MatrixHomogeneous, int >	dotLeftFootRefSOUT
	Externalize the left foot position reference. More...

SignalTimeDependent< MatrixHomogeneous, int >	dotRightFootRefSOUT
	Externalize the right foot position reference. More...

SignalTimeDependent< MatrixHomogeneous, int >	FlyingFootRefSOUT
	Externalize the foot which is not considered as support foot, the information are given in a relative referentiel. More...

SignalTimeDependent< int, int >	SupportFootSOUT
	Externalize the support foot. More...

SignalTimeDependent< dynamicgraph::Vector, int >	jointWalkingErrorPositionSOUT
	Externalize the joint values for walking. More...

SignalTimeDependent< dynamicgraph::Vector, int >	comattitudeSOUT
	Externalize the com attitude. More...

SignalTimeDependent< dynamicgraph::Vector, int >	dcomattitudeSOUT
	Externalize the dcom attitude. More...

SignalTimeDependent< dynamicgraph::Vector, int >	ddcomattitudeSOUT
	Externalize the ddcom attitude. More...

SignalTimeDependent< VectorRollPitchYaw, int >	waistattitudeSOUT
	Externalize the waist attitude. More...

SignalTimeDependent< VectorRollPitchYaw, int >	waistattitudeabsoluteSOUT
	Externalize the absolute waist attitude. More...

SignalTimeDependent< MatrixHomogeneous, int >	waistattitudematrixabsoluteSOUT
	Externalize the absolute waist attitude into a homogeneous matrix. More...

SignalTimeDependent< dynamicgraph::Vector, int >	waistpositionSOUT
	Externalize the waist position. More...

SignalTimeDependent< dynamicgraph::Vector, int >	waistpositionabsoluteSOUT
	Externalize the absolute waist position. More...

SignalTimeDependent< unsigned int, int >	dataInProcessSOUT
	true iff PG is processing. Use it for synchronize. More...

SignalTimeDependent< dynamicgraph::Vector, int >	InitZMPRefSOUT
	Externalize the initial ZMP reference . More...

SignalTimeDependent< dynamicgraph::Vector, int >	InitCoMRefSOUT
	Externalize the initial CoM reference. More...

SignalTimeDependent< dynamicgraph::Vector, int >	InitWaistPosRefSOUT
	Externalize the initial Waist reference. More...

SignalTimeDependent< VectorRollPitchYaw, int >	InitWaistAttRefSOUT
	Externalize the initial Waist reference. More...

SignalTimeDependent< MatrixHomogeneous, int >	InitLeftFootRefSOUT
	Externalize the left foot position reference. More...

SignalTimeDependent< MatrixHomogeneous, int >	InitRightFootRefSOUT
	Externalize the right foot position reference. More...

SignalTimeDependent< bool, int >	leftFootContactSOUT
	Booleans for contact of the feet. More...

SignalTimeDependent< bool, int >	rightFootContactSOUT

Static Public Attributes
Some constant to define the type
of frame reference.
static const int	WORLD_FRAME = 0
	Specify that the frame is expressed in the world reference frame. More...

static const int	EGOCENTERED_FRAME = 1
	Specify that the frame is expressed in the robot ego centered frame. More...

static const int	LEFT_FOOT_CENTERED_FRAME = 2
	Specify that the frame is expressed in the left foot centered frame. More...

static const int	WAIST_CENTERED_FRAME = 3
	Specify that the frame is expressed in the waist centered frame. More...

Protected Member Functions
int &	getSupportFoot (int &res, int time)
	Getting the current support foot: 1 Left -1 Right. More...

int &	InitOneStepOfControl (int &dummy, int time)
	Trigger the initialization of the algorithm. More...

int &	OneStepOfControl (int &dummy, int time)
	Trigger one step of the algorithm. More...

void	ParseCmdFile (std::istringstream &cmdArg, std::ostream &os)

void	FromAbsoluteFootPosToDotHomogeneous (pg::FootAbsolutePosition aFootPosition, MatrixHomogeneous &aFootMH, MatrixHomogeneous &adotFootMH)
	Transfert from a current absolute foot position to a dot homogeneous matrix. More...

void	FromAbsoluteFootPosToHomogeneous (pg::FootAbsolutePosition aFootPosition, MatrixHomogeneous &aFootMH)
	Transfert from a current absolute foot position to a homogeneous matrix. More...

void	getAbsoluteWaistPosAttHomogeneousMatrix (MatrixHomogeneous &aWaistMH)
	Provide an homogeneous matrix from the current waist position and attitude. More...

void	SubsamplingFootPos (pg::FootAbsolutePosition &PrevFootPosition, pg::FootAbsolutePosition &NextFootPosition, MatrixHomogeneous &FootPositionOut, MatrixHomogeneous &dotFootPositionOut, unsigned int &count)

void	SubsamplingVector (dynamicgraph::Vector &PrevPosition, dynamicgraph::Vector &NextPosition, dynamicgraph::Vector &PositionOut, unsigned int &count)

void	CopyFootPosition (pg::FootAbsolutePosition &FootPositionIn, pg::FootAbsolutePosition &FootPositionOut)

dynamicgraph::Vector &	getInitZMPRef (dynamicgraph::Vector &res, int time)
	Internal method to get the initial reference ZMP at a given time. More...

dynamicgraph::Vector &	getInitCoMRef (dynamicgraph::Vector &res, int time)
	Internal method to get the initial reference CoM at a given time. More...

dynamicgraph::Vector &	getInitWaistPosRef (dynamicgraph::Vector &res, int time)
	Internal method to get the initial reference CoM at a given time. More...

VectorRollPitchYaw &	getInitWaistAttRef (VectorRollPitchYaw &res, int time)
	Internal method to get the initial reference CoM at a given time. More...

MatrixHomogeneous &	getInitLeftFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the left foot. More...

MatrixHomogeneous &	getInitRightFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the right foot. More...

bool &	getLeftFootContact (bool &res, int time)
	Internal method to get the information of contact or not on the feet. More...

bool &	getRightFootContact (bool &res, int time)

int &	getContactPhase (int &res, int time)
	Internal method to get the information of contact phase leftFoot=1, rightFoot=-1, doubleSupport=0. More...

Internal methods to access reference trajectories.
dynamicgraph::Vector &	getZMPRef (dynamicgraph::Vector &res, int time)
	Internal method to get the reference ZMP at a given time. More...

dynamicgraph::Vector &	getCoMRef (dynamicgraph::Vector &res, int time)
	Internal method to get the reference CoM at a given time. More...

dynamicgraph::Vector &	getdCoMRef (dynamicgraph::Vector &res, int time)
	Internal method to get the reference dCoM at a given time. More...

dynamicgraph::Vector &	getddCoMRef (dynamicgraph::Vector &res, int time)
	Internal method to get the reference ddCoM at a given time. More...

dynamicgraph::Vector &	getExternalForces (dynamicgraph::Vector &forces, int time)
	Internal method to get the external forces at a given time. More...

MatrixHomogeneous &	getLeftFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the left foot. More...

MatrixHomogeneous &	getRightFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the right foot. More...

MatrixHomogeneous &	getdotLeftFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the derivative of the left foot. More...

MatrixHomogeneous &	getdotRightFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the derivative of the right foot. More...

MatrixHomogeneous &	getFlyingFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the flying foot. More...

dynamicgraph::Vector &	getjointWalkingErrorPosition (dynamicgraph::Vector &res, int time)
	Internal method to get the joint position for walking. More...

dynamicgraph::Vector &	getdComAttitude (dynamicgraph::Vector &res, int time)
	Internal method to get the derivative of the com attitude. More...

dynamicgraph::Vector &	getddComAttitude (dynamicgraph::Vector &res, int time)
	Internal method to get the second derivative of the com attitude. More...

dynamicgraph::Vector &	getComAttitude (dynamicgraph::Vector &res, int time)
	Internal method to get the attitude of the com. More...

VectorRollPitchYaw &	getWaistAttitude (VectorRollPitchYaw &res, int time)
	Internal method to get the attitude of the waist. More...

VectorRollPitchYaw &	getWaistAttitudeAbsolute (VectorRollPitchYaw &res, int time)
	Internal method to get the absolute attitude of the waist. More...

MatrixHomogeneous &	getWaistAttitudeMatrixAbsolute (MatrixHomogeneous &res, int time)
	Internal method to get the absolute attitude of the waist into an homogeneous matrix. More...

unsigned &	getDataInProcess (unsigned &res, int time)
	Internal method to get the dataInPorcess flag. More...

dynamicgraph::Vector &	getWaistPosition (dynamicgraph::Vector &res, int time)
	Internal method to get the position of the waist. More...

dynamicgraph::Vector &	getWaistPositionAbsolute (dynamicgraph::Vector &res, int time)
	Internal method to get the absolute position of the waist. More...

Protected Attributes
pinocchio::Model	m_robotModel
	The model of the robot. More...

pg::PinocchioRobot *	m_PR
	Pointer towards the robot model inside jrl-walkgen. More...

pinocchio::Data *	m_robotData
	The pointor toward the robot data. More...

pg::PatternGeneratorInterface *	m_PGI
	Pointer towards the interface of the pattern generator. More...

bool	m_init
	Boolean variable to initialize the object by loading an object. More...

bool	m_InitPositionByRealState
	Boolean variable to initialize the position: first through the real state of the robot, then through the motor command. More...

int	m_SupportFoot
	Integer for the support foot. More...

int	m_ReferenceFrame
	Keep the frame reference. More...

double	m_AnkleSoilDistance
	Distance between ankle and soil. More...

double	m_TimeStep
	Time step. More...

SupportPhase	m_ContactPhase
	Current support/contact phase defined by enum: leftFoot=1, rightFoot=-1, doubleSupport=0. More...

int	m_DSStartingTime

int	m_LocalTime
	iteration time. More...

unsigned int	m_count
	count for subsampling. More...

std::string	m_left_ankle_body_name

std::string	m_right_ankle_body_name

std::string	m_left_wrist_body_name

std::string	m_right_wrist_body_name

Eigen::VectorXd	m_ZMPPrevious

Fields to store name and positions of data files
std::string	m_PreviewControlParametersFile
	Some information related to the preview control. More...

std::string	m_urdfFile
	Directory+Name where the URDF file of the robot's model is located. More...

std::string	m_srdfFile
	Directory+Name where the SRDF file of the robot's model is located. More...

std::string	m_xmlRankFile
	Directory+Name where the Rank of the joints are notified. More...

std::vector< unsigned >	m_wrml2urdfIndex

double	m_soleLength
	Lenght of the sole. More...

double	m_soleWidth
	Width of the sole. More...

std::map< std::string, std::string >	specialJoints_

Keep information computed once for each time.
MatrixHomogeneous	m_k_Waist_kp1
	Rigit motion between two waist positions at the beginning of the walking and at the end of the walking. More...

MatrixHomogeneous	m_LeftFootPosition
	Absolute Position for the left and right feet. More...

MatrixHomogeneous	m_RightFootPosition

PatternGeneratorJRL::FootAbsolutePosition	m_PrevSamplingRightFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition	m_PrevSamplingLeftFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition	m_NextSamplingRightFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition	m_NextSamplingLeftFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition	m_InitRightFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition	m_InitLeftFootAbsPos

MatrixHomogeneous	m_dotLeftFootPosition
	Absolute Derivate for the left and right feet. More...

MatrixHomogeneous	m_dotRightFootPosition

MatrixHomogeneous	m_InitLeftFootPosition
	Initial Absolute Starting Position for the left and right feet. More...

MatrixHomogeneous	m_InitRightFootPosition

MatrixHomogeneous	m_MotionSinceInstanciationToThisSequence
	Keep track of the motion between sequence of motions. More...

MatrixHomogeneous	m_FlyingFootPosition
	Relative Position of the flying foot. More...

dynamicgraph::Vector	m_ZMPRefPos
	Absolute position of the reference ZMP. More...

dynamicgraph::Vector	m_ComAttitude
	Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum. More...

dynamicgraph::Vector	m_dComAttitude
	dCom Attitude: does not really exist apart when the robot is seen as an inverted pendulum More...

dynamicgraph::Vector	m_ddComAttitude
	ddCom Attitude: does not really exist apart when the robot is seen as an inverted pendulum More...

dynamicgraph::Vector	m_COMRefPos
	Absolute position of the reference CoM. More...

dynamicgraph::Vector	m_PrevSamplingCOMRefPos

dynamicgraph::Vector	m_NextSamplingCOMRefPos

dynamicgraph::Vector	m_dCOMRefPos
	Absolute position of the reference dCoM. More...

dynamicgraph::Vector	m_PrevSamplingdCOMRefPos

dynamicgraph::Vector	m_NextSamplingdCOMRefPos

dynamicgraph::Vector	m_ddCOMRefPos
	Absolute position of the reference ddCoM. More...

dynamicgraph::Vector	m_PrevSamplingddCOMRefPos

dynamicgraph::Vector	m_NextSamplingddCOMRefPos

dynamicgraph::Vector	m_InitZMPRefPos
	Initial Absolute position of the reference ZMP. More...

dynamicgraph::Vector	m_InitWaistRefPos
	Initial Absolute position and attitude of the reference Waist. More...

dynamicgraph::Vector	m_InitWaistRefAtt

dynamicgraph::Vector	m_InitCOMRefPos
	Initial Absolute position of the reference CoM. More...

dynamicgraph::Vector	m_WaistPosition
	Waist position. More...

dynamicgraph::Vector	m_WaistPositionAbsolute
	Waist position Absolute. More...

dynamicgraph::Vector	m_WaistAttitude
	Waist Attitude. More...

dynamicgraph::Vector	m_WaistAttitudeAbsolute
	Waist Attitude Absolute. More...

dynamicgraph::Vector	m_PrevSamplingWaistAttAbs

dynamicgraph::Vector	m_NextSamplingWaistAttAbs

MatrixHomogeneous	m_WaistAttitudeMatrixAbsolute
	Waist Attitude Homogeneous Matrix. More...

dynamicgraph::Vector	m_JointErrorValuesForWalking
	Joint values for walking. More...

dynamicgraph::Vector	m_VelocityReference
	Velocity reference for Herdt's PG. More...

bool	m_trigger
	trigger to start walking More...

unsigned int	m_dataInProcess
	true iff the pattern if dealing with data, false if pg is not working anymore/yet. More...

bool	m_feedBackControl
	Booleans used to indicate if feedback signals shoul be used or not. More...

bool	m_forceFeedBack
	Booleans used to indicate if force feedback signals shoul be used or not. More...

bool	m_rightFootContact
	Booleans used to indicate feet contacts. More...

bool	m_leftFootContact

Detailed Description

This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library.

Member Typedef Documentation

◆ Dummy

typedef int dynamicgraph::sot::PatternGenerator::Dummy

Constructor & Destructor Documentation

◆ PatternGenerator()

dynamicgraph::sot::PatternGenerator::PatternGenerator ( const std::string & name = "PatternGenerator" )

Default constructor.

◆ ~PatternGenerator()

virtual dynamicgraph::sot::PatternGenerator::~PatternGenerator ( void )

virtual

Default destructor.

Member Function Documentation

◆ addComplementaryFrames()

bool dynamicgraph::sot::PatternGenerator::addComplementaryFrames ( )

Add complementary frame.

◆ addJointMapping()

void dynamicgraph::sot::PatternGenerator::addJointMapping	(	const std::string &	link,
		const std::string &	repName
	)

Set mapping between a link and actual robot name.

◆ addOnLineStep()

void dynamicgraph::sot::PatternGenerator::addOnLineStep	(	const double &	x,
		const double &	y,
		const double &	th
	)

◆ addStep()

void dynamicgraph::sot::PatternGenerator::addStep	(	const double &	x,
		const double &	y,
		const double &	th
	)

◆ buildPGI()

bool dynamicgraph::sot::PatternGenerator::buildPGI ( void )

Build the pattern generator interface from the parameter "/robot_description" and the informations in "/robot/specifificities/feet/[right|left]/[size|anklePosition].

◆ buildReducedModel()

bool dynamicgraph::sot::PatternGenerator::buildReducedModel ( void )

Build the reduced model.

◆ CopyFootPosition()

void dynamicgraph::sot::PatternGenerator::CopyFootPosition	(	pg::FootAbsolutePosition &	FootPositionIn,
		pg::FootAbsolutePosition &	FootPositionOut
	)

protected

◆ debug()

void dynamicgraph::sot::PatternGenerator::debug ( void )

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::PatternGenerator::DYNAMIC_GRAPH_ENTITY_DECL ( )

Class name

◆ FromAbsoluteFootPosToDotHomogeneous()

void dynamicgraph::sot::PatternGenerator::FromAbsoluteFootPosToDotHomogeneous	(	pg::FootAbsolutePosition	aFootPosition,
		MatrixHomogeneous &	aFootMH,
		MatrixHomogeneous &	adotFootMH
	)

protected

Transfert from a current absolute foot position to a dot homogeneous matrix.

◆ FromAbsoluteFootPosToHomogeneous()

void dynamicgraph::sot::PatternGenerator::FromAbsoluteFootPosToHomogeneous	(	pg::FootAbsolutePosition	aFootPosition,
		MatrixHomogeneous &	aFootMH
	)

protected

Transfert from a current absolute foot position to a homogeneous matrix.

◆ getAbsoluteWaistPosAttHomogeneousMatrix()

void dynamicgraph::sot::PatternGenerator::getAbsoluteWaistPosAttHomogeneousMatrix ( MatrixHomogeneous & aWaistMH )

protected

Provide an homogeneous matrix from the current waist position and attitude.

◆ getComAttitude()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getComAttitude	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the attitude of the com.

◆ getCoMRef()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getCoMRef	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the reference CoM at a given time.

◆ getContactPhase()

int& dynamicgraph::sot::PatternGenerator::getContactPhase	(	int &	res,
		int	time
	)

protected

Internal method to get the information of contact phase leftFoot=1, rightFoot=-1, doubleSupport=0.

◆ getDataInProcess()

unsigned& dynamicgraph::sot::PatternGenerator::getDataInProcess	(	unsigned &	res,
		int	time
	)

protected

Internal method to get the dataInPorcess flag.

◆ getdComAttitude()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getdComAttitude	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the derivative of the com attitude.

◆ getdCoMRef()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getdCoMRef	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the reference dCoM at a given time.

◆ getddComAttitude()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getddComAttitude	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the second derivative of the com attitude.

◆ getddCoMRef()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getddCoMRef	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the reference ddCoM at a given time.

◆ getdotLeftFootRef()

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getdotLeftFootRef	(	MatrixHomogeneous &	res,
		int	time
	)

protected

Internal method to get the derivative of the left foot.

◆ getdotRightFootRef()

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getdotRightFootRef	(	MatrixHomogeneous &	res,
		int	time
	)

protected

Internal method to get the derivative of the right foot.

◆ getExternalForces()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getExternalForces	(	dynamicgraph::Vector &	forces,
		int	time
	)

protected

Internal method to get the external forces at a given time.

◆ getFlyingFootRef()

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getFlyingFootRef	(	MatrixHomogeneous &	res,
		int	time
	)

protected

Internal method to get the position of the flying foot.

◆ getInitCoMRef()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitCoMRef	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the initial reference CoM at a given time.

◆ getInitLeftFootRef()

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getInitLeftFootRef	(	MatrixHomogeneous &	res,
		int	time
	)

protected

Internal method to get the position of the left foot.

◆ getInitRightFootRef()

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getInitRightFootRef	(	MatrixHomogeneous &	res,
		int	time
	)

protected

Internal method to get the position of the right foot.

◆ getInitWaistAttRef()

VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getInitWaistAttRef	(	VectorRollPitchYaw &	res,
		int	time
	)

protected

Internal method to get the initial reference CoM at a given time.

◆ getInitWaistPosRef()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitWaistPosRef	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the initial reference CoM at a given time.

◆ getInitZMPRef()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getInitZMPRef	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the initial reference ZMP at a given time.

◆ getjointWalkingErrorPosition()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getjointWalkingErrorPosition	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the joint position for walking.

◆ getLeftFootContact()

bool& dynamicgraph::sot::PatternGenerator::getLeftFootContact	(	bool &	res,
		int	time
	)

protected

Internal method to get the information of contact or not on the feet.

◆ getLeftFootRef()

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getLeftFootRef	(	MatrixHomogeneous &	res,
		int	time
	)

protected

Internal method to get the position of the left foot.

◆ GetPatternGeneratorInterface()

pg::PatternGeneratorInterface* dynamicgraph::sot::PatternGenerator::GetPatternGeneratorInterface ( )

inline

Give access directly to the pattern generator... You really have to know what your are doing.

◆ getRightFootContact()

bool& dynamicgraph::sot::PatternGenerator::getRightFootContact	(	bool &	res,
		int	time
	)

protected

◆ getRightFootRef()

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getRightFootRef	(	MatrixHomogeneous &	res,
		int	time
	)

protected

Internal method to get the position of the right foot.

◆ getSupportFoot()

int& dynamicgraph::sot::PatternGenerator::getSupportFoot	(	int &	res,
		int	time
	)

protected

Getting the current support foot: 1 Left -1 Right.

◆ getWaistAttitude()

VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getWaistAttitude	(	VectorRollPitchYaw &	res,
		int	time
	)

protected

Internal method to get the attitude of the waist.

◆ getWaistAttitudeAbsolute()

VectorRollPitchYaw& dynamicgraph::sot::PatternGenerator::getWaistAttitudeAbsolute	(	VectorRollPitchYaw &	res,
		int	time
	)

protected

Internal method to get the absolute attitude of the waist.

◆ getWaistAttitudeMatrixAbsolute()

MatrixHomogeneous& dynamicgraph::sot::PatternGenerator::getWaistAttitudeMatrixAbsolute	(	MatrixHomogeneous &	res,
		int	time
	)

protected

Internal method to get the absolute attitude of the waist into an homogeneous matrix.

◆ getWaistPosition()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getWaistPosition	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the position of the waist.

◆ getWaistPositionAbsolute()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getWaistPositionAbsolute	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the absolute position of the waist.

◆ getZMPRef()

dynamicgraph::Vector& dynamicgraph::sot::PatternGenerator::getZMPRef	(	dynamicgraph::Vector &	res,
		int	time
	)

protected

Internal method to get the reference ZMP at a given time.

◆ initCommands()

void dynamicgraph::sot::PatternGenerator::initCommands ( void )

◆ InitOneStepOfControl()

int& dynamicgraph::sot::PatternGenerator::InitOneStepOfControl	(	int &	dummy,
		int	time
	)

protected

Trigger the initialization of the algorithm.

◆ InitState()

bool dynamicgraph::sot::PatternGenerator::InitState ( void )

Initialize the state of the robot.

◆ OneStepOfControl()

int& dynamicgraph::sot::PatternGenerator::OneStepOfControl	(	int &	dummy,
		int	time
	)

protected

Trigger one step of the algorithm.

◆ ParseCmdFile()

void dynamicgraph::sot::PatternGenerator::ParseCmdFile	(	std::istringstream &	cmdArg,
		std::ostream &	os
	)

protected

Parsing a file of command by the walking pattern generator interface.

[in] The command line (optional option)

[in]

◆ pgCommandLine()

void dynamicgraph::sot::PatternGenerator::pgCommandLine ( const std::string & cmdline )

◆ readFootParameters()

void dynamicgraph::sot::PatternGenerator::readFootParameters	(	std::string &	rootFootPath,
		pg::PRFoot &	aFoot
	)

readFootParameters

◆ setParamPreviewFile()

void dynamicgraph::sot::PatternGenerator::setParamPreviewFile ( const std::string & filename )

Set the name of the file specifying the control parameters of the preview control.

◆ setPreviewControlParametersFile()

void dynamicgraph::sot::PatternGenerator::setPreviewControlParametersFile ( const std::string & filename )

Set the directory which contains the parameters for the preview control.

◆ setReferenceFromString()

void dynamicgraph::sot::PatternGenerator::setReferenceFromString ( const std::string & str )

◆ setSoleParameters()

void dynamicgraph::sot::PatternGenerator::setSoleParameters	(	const double &	inSoleLength,
		const double &	inSoleWidth
	)

Set the foot parameters.

◆ setSRDFFile()

void dynamicgraph::sot::PatternGenerator::setSRDFFile ( const std::string & filename )

Set the path which contains the SRDF files robot's model. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL.

◆ setURDFFile()

void dynamicgraph::sot::PatternGenerator::setURDFFile ( const std::string & filename )

Set the path which contains the URDF files robot's model.

◆ setXmlRankFile()

void dynamicgraph::sot::PatternGenerator::setXmlRankFile ( const std::string & filename )

Set the path which contains the Joint Rank model.

◆ stringToReferenceEnum()

int dynamicgraph::sot::PatternGenerator::stringToReferenceEnum ( const std::string & FrameReference )

◆ SubsamplingFootPos()

void dynamicgraph::sot::PatternGenerator::SubsamplingFootPos	(	pg::FootAbsolutePosition &	PrevFootPosition,
		pg::FootAbsolutePosition &	NextFootPosition,
		MatrixHomogeneous &	FootPositionOut,
		MatrixHomogeneous &	dotFootPositionOut,
		unsigned int &	count
	)

protected

◆ SubsamplingVector()

void dynamicgraph::sot::PatternGenerator::SubsamplingVector	(	dynamicgraph::Vector &	PrevPosition,
		dynamicgraph::Vector &	NextPosition,
		dynamicgraph::Vector &	PositionOut,
		unsigned int &	count
	)

protected

◆ useDynamicFilter()

void dynamicgraph::sot::PatternGenerator::useDynamicFilter ( const bool & dynamicFilter )

◆ useFeedBackSignals()

void dynamicgraph::sot::PatternGenerator::useFeedBackSignals ( const bool & feedBack )

Member Data Documentation

◆ comattitudeSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::comattitudeSOUT

Externalize the com attitude.

◆ CoMRefSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::CoMRefSOUT

Externalize the CoM reference.

◆ comSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::comSIN

Take the current CoM.

◆ comStateSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::comStateSIN

Take the current CoM state (pos, vel, acc).

◆ contactPhaseSOUT

SignalTimeDependent<int, int> dynamicgraph::sot::PatternGenerator::contactPhaseSOUT

Int Vector of support phase: leftFoot=1, rightFoot=-1, doubleSupport=0 (see enum).

◆ dataInProcessSOUT

SignalTimeDependent<unsigned int, int> dynamicgraph::sot::PatternGenerator::dataInProcessSOUT

true iff PG is processing. Use it for synchronize.

◆ dcomattitudeSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::dcomattitudeSOUT

Externalize the dcom attitude.

◆ dCoMRefSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::dCoMRefSOUT

Externalize the CoM reference.

◆ ddcomattitudeSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::ddcomattitudeSOUT

Externalize the ddcom attitude.

◆ ddCoMRefSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::ddCoMRefSOUT

◆ dotLeftFootRefSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::dotLeftFootRefSOUT

Externalize the left foot position reference.

◆ dotRightFootRefSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::dotRightFootRefSOUT

Externalize the right foot position reference.

◆ EGOCENTERED_FRAME

const int dynamicgraph::sot::PatternGenerator::EGOCENTERED_FRAME = 1

static

Specify that the frame is expressed in the robot ego centered frame.

◆ firstSINTERN

SignalTimeDependent<Dummy, int> dynamicgraph::sot::PatternGenerator::firstSINTERN

Internal signal for initialization and one shot signals.

◆ FlyingFootRefSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::FlyingFootRefSOUT

Externalize the foot which is not considered as support foot, the information are given in a relative referentiel.

◆ forceSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::forceSIN

Take the current external force applied to the com (fx, fy, fz).

◆ forceSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::forceSOUT

◆ InitCoMRefSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::InitCoMRefSOUT

Externalize the initial CoM reference.

◆ InitLeftFootRefSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::InitLeftFootRefSOUT

Externalize the left foot position reference.

◆ InitRightFootRefSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::InitRightFootRefSOUT

Externalize the right foot position reference.

◆ InitWaistAttRefSOUT

SignalTimeDependent<VectorRollPitchYaw, int> dynamicgraph::sot::PatternGenerator::InitWaistAttRefSOUT

Externalize the initial Waist reference.

◆ InitWaistPosRefSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::InitWaistPosRefSOUT

Externalize the initial Waist reference.

◆ InitZMPRefSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::InitZMPRefSOUT

Externalize the initial ZMP reference .

◆ jointPositionSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::jointPositionSIN

Real state position values.

◆ jointWalkingErrorPositionSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::jointWalkingErrorPositionSOUT

Externalize the joint values for walking.

◆ LEFT_FOOT_CENTERED_FRAME

const int dynamicgraph::sot::PatternGenerator::LEFT_FOOT_CENTERED_FRAME = 2

static

Specify that the frame is expressed in the left foot centered frame.

◆ leftFootContactSOUT

SignalTimeDependent<bool, int> dynamicgraph::sot::PatternGenerator::leftFootContactSOUT

Booleans for contact of the feet.

◆ LeftFootCurrentPosSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::LeftFootCurrentPosSIN

Take the current left foot homogeneous position.

◆ LeftFootRefSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::LeftFootRefSOUT

Externalize the left foot position reference.

◆ m_AnkleSoilDistance

double dynamicgraph::sot::PatternGenerator::m_AnkleSoilDistance

protected

Distance between ankle and soil.

◆ m_bufferForce

std::deque<dynamicgraph::Vector> dynamicgraph::sot::PatternGenerator::m_bufferForce

◆ m_ComAttitude

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_ComAttitude

protected

Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum.

◆ m_COMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_COMRefPos

protected

Absolute position of the reference CoM.

◆ m_ContactPhase

SupportPhase dynamicgraph::sot::PatternGenerator::m_ContactPhase

protected

Current support/contact phase defined by enum: leftFoot=1, rightFoot=-1, doubleSupport=0.

◆ m_count

unsigned int dynamicgraph::sot::PatternGenerator::m_count

protected

count for subsampling.

◆ m_currentForces

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_currentForces

◆ m_dataInProcess

unsigned int dynamicgraph::sot::PatternGenerator::m_dataInProcess

protected

true iff the pattern if dealing with data, false if pg is not working anymore/yet.

◆ m_dComAttitude

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_dComAttitude

protected

dCom Attitude: does not really exist apart when the robot is seen as an inverted pendulum

◆ m_dCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_dCOMRefPos

protected

Absolute position of the reference dCoM.

◆ m_ddComAttitude

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_ddComAttitude

protected

ddCom Attitude: does not really exist apart when the robot is seen as an inverted pendulum

◆ m_ddCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_ddCOMRefPos

protected

Absolute position of the reference ddCoM.

◆ m_dotLeftFootPosition

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_dotLeftFootPosition

protected

Absolute Derivate for the left and right feet.

◆ m_dotRightFootPosition

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_dotRightFootPosition

protected

◆ m_DSStartingTime

int dynamicgraph::sot::PatternGenerator::m_DSStartingTime

protected

◆ m_feedBackControl

bool dynamicgraph::sot::PatternGenerator::m_feedBackControl

protected

Booleans used to indicate if feedback signals shoul be used or not.

◆ m_filterWindow

std::vector<double> dynamicgraph::sot::PatternGenerator::m_filterWindow

◆ m_FlyingFootPosition

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_FlyingFootPosition

protected

Relative Position of the flying foot.

◆ m_forceFeedBack

bool dynamicgraph::sot::PatternGenerator::m_forceFeedBack

protected

Booleans used to indicate if force feedback signals shoul be used or not.

◆ m_init

bool dynamicgraph::sot::PatternGenerator::m_init

protected

Boolean variable to initialize the object by loading an object.

◆ m_InitCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_InitCOMRefPos

protected

Initial Absolute position of the reference CoM.

◆ m_initForce

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_initForce

◆ m_InitLeftFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition dynamicgraph::sot::PatternGenerator::m_InitLeftFootAbsPos

protected

◆ m_InitLeftFootPosition

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_InitLeftFootPosition

protected

Initial Absolute Starting Position for the left and right feet.

◆ m_InitPositionByRealState

bool dynamicgraph::sot::PatternGenerator::m_InitPositionByRealState

protected

Boolean variable to initialize the position: first through the real state of the robot, then through the motor command.

◆ m_InitRightFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition dynamicgraph::sot::PatternGenerator::m_InitRightFootAbsPos

protected

◆ m_InitRightFootPosition

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_InitRightFootPosition

protected

◆ m_InitWaistRefAtt

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_InitWaistRefAtt

protected

◆ m_InitWaistRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_InitWaistRefPos

protected

Initial Absolute position and attitude of the reference Waist.

◆ m_InitZMPRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_InitZMPRefPos

protected

Initial Absolute position of the reference ZMP.

◆ m_JointErrorValuesForWalking

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_JointErrorValuesForWalking

protected

Joint values for walking.

◆ m_k_Waist_kp1

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_k_Waist_kp1

protected

Rigit motion between two waist positions at the beginning of the walking and at the end of the walking.

◆ m_left_ankle_body_name

std::string dynamicgraph::sot::PatternGenerator::m_left_ankle_body_name

protected

◆ m_left_wrist_body_name

std::string dynamicgraph::sot::PatternGenerator::m_left_wrist_body_name

protected

◆ m_leftFootContact

bool dynamicgraph::sot::PatternGenerator::m_leftFootContact

protected

◆ m_LeftFootPosition

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_LeftFootPosition

protected

Absolute Position for the left and right feet.

◆ m_LocalTime

int dynamicgraph::sot::PatternGenerator::m_LocalTime

protected

iteration time.

◆ m_MotionSinceInstanciationToThisSequence

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_MotionSinceInstanciationToThisSequence

protected

Keep track of the motion between sequence of motions.

◆ m_NextSamplingCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_NextSamplingCOMRefPos

protected

◆ m_NextSamplingdCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_NextSamplingdCOMRefPos

protected

◆ m_NextSamplingddCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_NextSamplingddCOMRefPos

protected

◆ m_NextSamplingLeftFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition dynamicgraph::sot::PatternGenerator::m_NextSamplingLeftFootAbsPos

protected

◆ m_NextSamplingRightFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition dynamicgraph::sot::PatternGenerator::m_NextSamplingRightFootAbsPos

protected

◆ m_NextSamplingWaistAttAbs

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_NextSamplingWaistAttAbs

protected

◆ m_PGI

pg::PatternGeneratorInterface* dynamicgraph::sot::PatternGenerator::m_PGI

protected

Pointer towards the interface of the pattern generator.

◆ m_PR

pg::PinocchioRobot* dynamicgraph::sot::PatternGenerator::m_PR

protected

Pointer towards the robot model inside jrl-walkgen.

◆ m_PreviewControlParametersFile

std::string dynamicgraph::sot::PatternGenerator::m_PreviewControlParametersFile

protected

Some information related to the preview control.

◆ m_PrevSamplingCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_PrevSamplingCOMRefPos

protected

◆ m_PrevSamplingdCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_PrevSamplingdCOMRefPos

protected

◆ m_PrevSamplingddCOMRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_PrevSamplingddCOMRefPos

protected

◆ m_PrevSamplingLeftFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition dynamicgraph::sot::PatternGenerator::m_PrevSamplingLeftFootAbsPos

protected

◆ m_PrevSamplingRightFootAbsPos

PatternGeneratorJRL::FootAbsolutePosition dynamicgraph::sot::PatternGenerator::m_PrevSamplingRightFootAbsPos

protected

◆ m_PrevSamplingWaistAttAbs

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_PrevSamplingWaistAttAbs

protected

◆ m_ReferenceFrame

int dynamicgraph::sot::PatternGenerator::m_ReferenceFrame

protected

Keep the frame reference.

◆ m_right_ankle_body_name

std::string dynamicgraph::sot::PatternGenerator::m_right_ankle_body_name

protected

◆ m_right_wrist_body_name

std::string dynamicgraph::sot::PatternGenerator::m_right_wrist_body_name

protected

◆ m_rightFootContact

bool dynamicgraph::sot::PatternGenerator::m_rightFootContact

protected

Booleans used to indicate feet contacts.

◆ m_RightFootPosition

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_RightFootPosition

protected

◆ m_robotData

pinocchio::Data* dynamicgraph::sot::PatternGenerator::m_robotData

protected

The pointor toward the robot data.

◆ m_robotModel

pinocchio::Model dynamicgraph::sot::PatternGenerator::m_robotModel

protected

The model of the robot.

◆ m_soleLength

double dynamicgraph::sot::PatternGenerator::m_soleLength

protected

Lenght of the sole.

◆ m_soleWidth

double dynamicgraph::sot::PatternGenerator::m_soleWidth

protected

Width of the sole.

◆ m_srdfFile

std::string dynamicgraph::sot::PatternGenerator::m_srdfFile

protected

Directory+Name where the SRDF file of the robot's model is located.

◆ m_SupportFoot

int dynamicgraph::sot::PatternGenerator::m_SupportFoot

protected

Integer for the support foot.

◆ m_TimeStep

double dynamicgraph::sot::PatternGenerator::m_TimeStep

protected

Time step.

◆ m_trigger

bool dynamicgraph::sot::PatternGenerator::m_trigger

protected

trigger to start walking

◆ m_urdfFile

std::string dynamicgraph::sot::PatternGenerator::m_urdfFile

protected

Directory+Name where the URDF file of the robot's model is located.

◆ m_VelocityReference

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_VelocityReference

protected

Velocity reference for Herdt's PG.

◆ m_WaistAttitude

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_WaistAttitude

protected

Waist Attitude.

◆ m_WaistAttitudeAbsolute

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_WaistAttitudeAbsolute

protected

Waist Attitude Absolute.

◆ m_WaistAttitudeMatrixAbsolute

MatrixHomogeneous dynamicgraph::sot::PatternGenerator::m_WaistAttitudeMatrixAbsolute

protected

Waist Attitude Homogeneous Matrix.

◆ m_WaistPosition

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_WaistPosition

protected

Waist position.

◆ m_WaistPositionAbsolute

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_WaistPositionAbsolute

protected

Waist position Absolute.

◆ m_wrml2urdfIndex

std::vector<unsigned> dynamicgraph::sot::PatternGenerator::m_wrml2urdfIndex

protected

◆ m_xmlRankFile

std::string dynamicgraph::sot::PatternGenerator::m_xmlRankFile

protected

Directory+Name where the Rank of the joints are notified.

◆ m_ZMPPrevious

Eigen::VectorXd dynamicgraph::sot::PatternGenerator::m_ZMPPrevious

protected

Storing the previous ZMP value.

◆ m_ZMPRefPos

dynamicgraph::Vector dynamicgraph::sot::PatternGenerator::m_ZMPRefPos

protected

Absolute position of the reference ZMP.

◆ motorControlJointPositionSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::motorControlJointPositionSIN

Motor control joint position values.

◆ OneStepOfControlS

SignalTimeDependent<Dummy, int> dynamicgraph::sot::PatternGenerator::OneStepOfControlS

Internal signal to trigger one step of the algorithm.

◆ rightFootContactSOUT

SignalTimeDependent<bool, int> dynamicgraph::sot::PatternGenerator::rightFootContactSOUT

◆ RightFootCurrentPosSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::RightFootCurrentPosSIN

Take the current right foot homogeneous position.

◆ RightFootRefSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::RightFootRefSOUT

Externalize the right foot position reference.

◆ specialJoints_

std::map<std::string, std::string> dynamicgraph::sot::PatternGenerator::specialJoints_

protected

◆ SupportFootSOUT

SignalTimeDependent<int, int> dynamicgraph::sot::PatternGenerator::SupportFootSOUT

Externalize the support foot.

◆ triggerSIN

SignalPtr<bool, int> dynamicgraph::sot::PatternGenerator::triggerSIN

Take the current trigger to start OneStepOfControl.

◆ velocitydesSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::velocitydesSIN

Take the current desired velocity.

◆ WAIST_CENTERED_FRAME

const int dynamicgraph::sot::PatternGenerator::WAIST_CENTERED_FRAME = 3

static

Specify that the frame is expressed in the waist centered frame.

◆ waistattitudeabsoluteSOUT

SignalTimeDependent<VectorRollPitchYaw, int> dynamicgraph::sot::PatternGenerator::waistattitudeabsoluteSOUT

Externalize the absolute waist attitude.

◆ waistattitudematrixabsoluteSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::PatternGenerator::waistattitudematrixabsoluteSOUT

Externalize the absolute waist attitude into a homogeneous matrix.

◆ waistattitudeSOUT

SignalTimeDependent<VectorRollPitchYaw, int> dynamicgraph::sot::PatternGenerator::waistattitudeSOUT

Externalize the waist attitude.

◆ waistpositionabsoluteSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::waistpositionabsoluteSOUT

Externalize the absolute waist position.

◆ waistpositionSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::waistpositionSOUT

Externalize the waist position.

◆ WORLD_FRAME

const int dynamicgraph::sot::PatternGenerator::WORLD_FRAME = 0

static

Specify that the frame is expressed in the world reference frame.

◆ ZMPPreviousControllerSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::ZMPPreviousControllerSIN

Previous ZMP value (ZMP send by the preceding controller).

◆ ZMPRefSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::ZMPRefSOUT

Externalize the ZMP reference .

◆ zmpSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::PatternGenerator::zmpSIN

Take the current zmp (x, y, z).

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

include/sot/pattern-generator/pg.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Dummy

Constructor & Destructor Documentation

◆ PatternGenerator()

◆ ~PatternGenerator()

Member Function Documentation

◆ addComplementaryFrames()

◆ addJointMapping()

◆ addOnLineStep()

◆ addStep()

◆ buildPGI()

◆ buildReducedModel()

◆ CopyFootPosition()

◆ debug()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ FromAbsoluteFootPosToDotHomogeneous()

◆ FromAbsoluteFootPosToHomogeneous()

◆ getAbsoluteWaistPosAttHomogeneousMatrix()

◆ getComAttitude()

◆ getCoMRef()

◆ getContactPhase()

◆ getDataInProcess()

◆ getdComAttitude()

◆ getdCoMRef()

◆ getddComAttitude()

◆ getddCoMRef()

◆ getdotLeftFootRef()

◆ getdotRightFootRef()

◆ getExternalForces()

◆ getFlyingFootRef()

◆ getInitCoMRef()

◆ getInitLeftFootRef()

◆ getInitRightFootRef()

◆ getInitWaistAttRef()

◆ getInitWaistPosRef()

◆ getInitZMPRef()

◆ getjointWalkingErrorPosition()

◆ getLeftFootContact()

◆ getLeftFootRef()

◆ GetPatternGeneratorInterface()

◆ getRightFootContact()

◆ getRightFootRef()

◆ getSupportFoot()

◆ getWaistAttitude()

◆ getWaistAttitudeAbsolute()

◆ getWaistAttitudeMatrixAbsolute()

◆ getWaistPosition()

◆ getWaistPositionAbsolute()

◆ getZMPRef()

◆ initCommands()

◆ InitOneStepOfControl()

◆ InitState()

◆ OneStepOfControl()

◆ ParseCmdFile()

◆ pgCommandLine()

◆ readFootParameters()

◆ setParamPreviewFile()

◆ setPreviewControlParametersFile()

◆ setReferenceFromString()

◆ setSoleParameters()

◆ setSRDFFile()

◆ setURDFFile()

◆ setXmlRankFile()

◆ stringToReferenceEnum()

◆ SubsamplingFootPos()

◆ SubsamplingVector()

◆ useDynamicFilter()

◆ useFeedBackSignals()

Member Data Documentation

◆ comattitudeSOUT

◆ CoMRefSOUT

◆ comSIN

◆ comStateSIN