Walk motion generator for humanoid legged robot. More...

#include <hpp/walkgen/bspline-based.hh>

Classes
struct	BoundaryCondition

Public Types
typedef std::vector< PiecewisePoly3 >	ZmpTrajectory_t

typedef std::vector< ZmpTrajectory_t >	ZmpTrajectories_t

typedef std::vector< BoundaryCondition, Eigen::aligned_allocator< BoundaryCondition > >	BoundaryConditions_t

typedef std::vector< value_type >	StepHeights_t

Public Member Functions
void	timeSequence (const Times_t &times)
	set time sequence More...

const Times_t &	timeSequence () const
	get time sequence More...

void	footPrintSequence (const FootPrints_t &footPrints)
	set sequence of foot prints More...

const FootPrints_t &	footPrintSequence () const
	get sequence of foot prints More...

void	defaultStepHeight (const value_type &stepHeight)
	Set default step height. More...

const value_type &	defaultStepHeight () const
	Get default step height. More...

void	stepHeights (const StepHeights_t &stepHeights)
	Set sequence of step heights. More...

const StepHeights_t &	stepHeights () const
	Get sequence of step heights. More...

void	zmpRefBoundaryConditions (const vector2_t &init, const vector2_t &end)
	Specify zmpref boundary conditions. More...

void	add (const BoundaryCondition &boundaryCondition)
	Add a boundary condition on center of mass trajectory. More...

void	setInitialComState (const vector2_t &position, const vector2_t &velocity)
	Set initial position and velocity of center of mass. More...

void	setEndComState (const vector2_t &position, const vector2_t &velocity)
	Set final position and velocity of center of mass. More...

CubicBSplinePtr_t	solve () const
	Solve quadratic program and return resulting cubic B spline. More...

const PathVectorPtr_t &	leftFootTrajectory () const
	Get trajectory of left foot. More...

const PathVectorPtr_t &	rightFootTrajectory () const
	Get trajectory of right foot. More...

DevicePtr_t	leftFoot () const

DevicePtr_t	rightFoot () const

const ZmpTrajectory_t &	zmpRefx () const
	Getter to representation of zmp ref abscissa. More...

const ZmpTrajectory_t &	zmpRefy () const
	Getter to representation of zmp ref abscissa. More...

value_type	cost (const vector_t &controlPoints)
	Compute the cost of a com trajectory defined by way points. More...

value_type	cost () const
	Compute the cost of the current com trajectory. More...

const ZmpTrajectories_t &	zmpBasisFunctions () const
	Get base functions of Zmp. More...

Static Public Member Functions
static SplineBasedPtr_t	create (const value_type &height)
	Create instance and return shared pointer. More...

static value_type	integral (value_type lower, value_type upper, const PiecewisePoly3 &P1, const PiecewisePoly3 &P2)

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW value_type	gravity = 9.81

static size_type	l = 3

Protected Member Functions
	SplineBased (const value_type &height)
	Constructor. More...

void	init (const SplineBasedWkPtr_t &self)
	initialization Store weak pointer to instance More...

void	computeFootTrajectory () const
	Compute trajectory of the feet. More...

Detailed Description

Walk motion generator for humanoid legged robot.

This class computes the reference trajectory of the center of mass of a humanoid robot, given as input a list of time-stamped foot-prints.

The trajectory of the center of mass is obtained by optimization for the linear so called table cart model.

Member Typedef Documentation

typedef std::vector<BoundaryCondition, Eigen::aligned_allocator <BoundaryCondition> > hpp::walkgen::SplineBased::BoundaryConditions_t

typedef std::vector<value_type> hpp::walkgen::SplineBased::StepHeights_t

typedef std::vector<ZmpTrajectory_t> hpp::walkgen::SplineBased::ZmpTrajectories_t

typedef std::vector<PiecewisePoly3> hpp::walkgen::SplineBased::ZmpTrajectory_t

Constructor & Destructor Documentation

hpp::walkgen::SplineBased::SplineBased ( const value_type & height )

protected

Constructor.

Parameters

height height of the center of mass

Referenced by create().

Member Function Documentation

void hpp::walkgen::SplineBased::add ( const BoundaryCondition & boundaryCondition )

Add a boundary condition on center of mass trajectory.

Parameters

t	time when position of center of mass is constrained,
position	required position of the center of mass.

Note: setting time or step sequence discards boundary conditions.

void hpp::walkgen::SplineBased::computeFootTrajectory ( ) const

protected

Compute trajectory of the feet.

Swap the foot

Check if this step was the last one

References hpp::core::PathVector::create(), hpp::walkgen::Step::create(), and hpp::walkgen::SupportFoot::create().

Referenced by solve().

value_type hpp::walkgen::SplineBased::cost ( const vector_t & controlPoints )

Compute the cost of a com trajectory defined by way points.

References cost().

value_type hpp::walkgen::SplineBased::cost ( ) const

Compute the cost of the current com trajectory.

References gravity, and integral().

Referenced by cost(), and solve().

SplineBasedPtr_t hpp::walkgen::SplineBased::create ( const value_type & height )

static

Create instance and return shared pointer.

Parameters

height height of the center of mass

References init(), and SplineBased().

void hpp::walkgen::SplineBased::defaultStepHeight ( const value_type & stepHeight )

inline

Set default step height.

const value_type& hpp::walkgen::SplineBased::defaultStepHeight ( ) const

inline

Get default step height.

void hpp::walkgen::SplineBased::footPrintSequence ( const FootPrints_t & footPrints )

set sequence of foot prints

Parameters

footPrints a vector of foot prints

Note: number of foot prints should be set after time sequence and should fit length of time sequence. If is the number of foot prints, the length of the time sequence should be equal to . See this document for details.; Sequence of step heights is set to the default value.

References l.

const FootPrints_t& hpp::walkgen::SplineBased::footPrintSequence ( ) const

inline

get sequence of foot prints

void hpp::walkgen::SplineBased::init ( const SplineBasedWkPtr_t & self )

protected

initialization Store weak pointer to instance

Referenced by create().

value_type hpp::walkgen::SplineBased::integral	(	value_type	lower,
		value_type	upper,
		const PiecewisePoly3 &	P1,
		const PiecewisePoly3 &	P2
	)

static

References assert(), hppDout, l, hpp::walkgen::PiecewisePoly3::lower, and hpp::walkgen::PiecewisePoly3::upper.

Referenced by cost().

DevicePtr_t hpp::walkgen::SplineBased::leftFoot ( ) const

inline

const PathVectorPtr_t& hpp::walkgen::SplineBased::leftFootTrajectory ( ) const

inline

Get trajectory of left foot.

Method solve should have been called first

DevicePtr_t hpp::walkgen::SplineBased::rightFoot ( ) const

inline

const PathVectorPtr_t& hpp::walkgen::SplineBased::rightFootTrajectory ( ) const

inline

Get trajectory of right foot.

Method solve should have been called first

void hpp::walkgen::SplineBased::setEndComState	(	const vector2_t &	position,
		const vector2_t &	velocity
	)

Set final position and velocity of center of mass.

Parameters

position	position of the center of mass at end $t=\tau_{2p-3}$
velocity	velocity of the center of mass at start $t=\tau_{2p-3}$

References assert(), roboptim::trajectory::Polynomial< N >::derivative(), and gravity.

void hpp::walkgen::SplineBased::setInitialComState	(	const vector2_t &	position,
		const vector2_t &	velocity
	)

Set initial position and velocity of center of mass.

Parameters

position	position of the center of mass at start $t=\tau_0$
velocity	velocity of the center of mass at start $t=\tau_0$

CubicBSplinePtr_t hpp::walkgen::SplineBased::solve ( ) const

Solve quadratic program and return resulting cubic B spline.

References computeFootTrajectory(), cost(), HPP_DEBUG_SVDCHECK, and hppDout.

void hpp::walkgen::SplineBased::stepHeights ( const StepHeights_t & stepHeights )

inline

Set sequence of step heights.

Parameters

stepHeights sequence of step heights

Note: Sequence of foot heights should be set after the sequence of foot prints.

const StepHeights_t& hpp::walkgen::SplineBased::stepHeights ( ) const

inline

Get sequence of step heights.

void hpp::walkgen::SplineBased::timeSequence ( const Times_t & times )

set time sequence

Parameters

times sequence of times corresponding to support phases.

const Times_t& hpp::walkgen::SplineBased::timeSequence ( ) const

inline

get time sequence

Returns: sequence of times corresponding to support phases.

const ZmpTrajectories_t& hpp::walkgen::SplineBased::zmpBasisFunctions ( ) const

inline

Get base functions of Zmp.

References init().

void hpp::walkgen::SplineBased::zmpRefBoundaryConditions	(	const vector2_t &	init,
		const vector2_t &	end
	)

inline

Specify zmpref boundary conditions.

Parameters

init,end initial and end values of zmpref trajectory

Note: If not specified, the middle of the first (respectively last) foot prints.; setting step sequence discards zmp boundary conditions.

References init(), and solve().

const ZmpTrajectory_t& hpp::walkgen::SplineBased::zmpRefx ( ) const

inline

Getter to representation of zmp ref abscissa.

const ZmpTrajectory_t& hpp::walkgen::SplineBased::zmpRefy ( ) const

inline

Getter to representation of zmp ref abscissa.

References hpp::walkgen::PiecewisePoly3::lower, and hpp::walkgen::PiecewisePoly3::upper.

Member Data Documentation

value_type hpp::walkgen::SplineBased::gravity = 9.81

static

Referenced by cost(), and setEndComState().

size_type hpp::walkgen::SplineBased::l = 3

static

Referenced by footPrintSequence(), and integral().

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation