Detailed Description

Parameters.

'"""""""""""""' \ | | | max_feet_dist ._____________. | } min_feet_dist /

<- foot position `^^^^^^' max_step_len

Definition at line 42 of file robot_foot_parameters.h.

#include <robot_foot_parameters.h>

Inheritance diagram for humoto::walking::RobotFootParameters:

Classes
class	LeftRightParameters
	These parameters are defined for left and right foot/side. More...

Public Member Functions
	RobotFootParameters ()
	Default constructor. More...

etools::Matrix2	getADSCoPBounds () const
	Return bounds on position of the CoP in ADS / SS. More...

etools::Vector2	getADSPositionFromFoot (const humoto::LeftOrRight::Type left_or_right, const etools::Matrix2 &ref_R, const etools::Vector2 &ref_position) const
	Get position of a foot or aligned double support based on position of an aligned support or a foot. More...

etools::Matrix2	getFootBounds (const humoto::LeftOrRight::Type left_or_right, const FootBoundsType::Type bounds_type) const
	Get bounds on position of a foot. More...

etools::Vector2	getFootPositionFromADS (const humoto::LeftOrRight::Type left_or_right, const etools::Matrix2 &ref_R, const etools::Vector2 &ref_position) const
	Get position of a foot or aligned double support based on position of an aligned support or a foot. More...

etools::Matrix2	getSSCoPBounds () const
	Return bounds on position of the CoP in ADS / SS. More...

void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="robot_foot_parameters") const
	Log. More...

void	readConfig (t_Reader &reader, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readNestedConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read nested configuration node. More...

void	setDefaults ()
	Initialize to default values (HRP2) More...

void	writeConfig (t_Writer &writer) const
	Write configuration. More...

void	writeConfig (t_Writer &writer, const std::string &node_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name, const std::string &node_name) const
	Write configuration. More...

void	writeNestedConfig (t_Writer &writer) const
	Write nested configuration node. More...

void	writeNestedConfig (t_Writer &writer, const std::string &node_name) const
	Write nested configuration node. More...

Protected Member Functions
void	finalize ()
	Create some useful parameters derived from the primal robot parameters. More...

virtual const std::string &	getConfigSectionID () const=0
	Return the default name of a configuration node corresponding to this class. More...

virtual std::size_t	getNumberOfEntries () const=0
	Get number of entries in the corresponding configuration node. More...

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Private Attributes
LeftRightContainer< LeftRightParameters >	feet_
	parameters corresponding to the left and right feet More...


double	max_step_len_

double	min_feet_dist_

double	max_feet_dist_

double	feet_dist_default_

double	foot_length_

double	foot_width_


etools::Matrix2	ss_cop_bounds_

etools::Matrix2	ads_cop_bounds_

Constructor & Destructor Documentation

◆ RobotFootParameters()

humoto::walking::RobotFootParameters::RobotFootParameters ( )

inline

Default constructor.

Definition at line 229 of file robot_foot_parameters.h.

Member Function Documentation

◆ finalize()

void humoto::walking::RobotFootParameters::finalize ( )

inlineprotectedvirtual

Create some useful parameters derived from the primal robot parameters.

Reimplemented from humoto::config::CommonConfigurableBase< true >.

Definition at line 176 of file robot_foot_parameters.h.

◆ getADSCoPBounds()

etools::Matrix2 humoto::walking::RobotFootParameters::getADSCoPBounds ( ) const

inline

Return bounds on position of the CoP in ADS / SS.

Returns: 2x2 matrix: [lb, ub]

Definition at line 300 of file robot_foot_parameters.h.

◆ getADSPositionFromFoot()

etools::Vector2 humoto::walking::RobotFootParameters::getADSPositionFromFoot	(	const humoto::LeftOrRight::Type	left_or_right,
		const etools::Matrix2 &	ref_R,
		const etools::Vector2 &	ref_position
	)		const

inline

Get position of a foot or aligned double support based on position of an aligned support or a foot.

Parameters

[in]	left_or_right	left or right foot
[in]	ref_R	orientation of the reference foot / ADS
[in]	ref_position	position of the reference foot / ADS

Returns: 2d position.

Definition at line 270 of file robot_foot_parameters.h.

◆ getConfigSectionID()

virtual const std::string& humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getConfigSectionID ( ) const

protectedpure virtualinherited

Return the default name of a configuration node corresponding to this class.

Returns: the name

Attention: Implementation of this method is added automatically upon inclusion of define_accessors.h if HUMOTO_CONFIG_SECTION_ID is defined.

Implemented in humoto::TaskBase.

◆ getFootBounds()

etools::Matrix2 humoto::walking::RobotFootParameters::getFootBounds	(	const humoto::LeftOrRight::Type	left_or_right,
		const FootBoundsType::Type	bounds_type
	)		const

inline

Get bounds on position of a foot.

Parameters

[in]	left_or_right	left or right foot
[in]	bounds_type	type of the bounds

Returns: 2x2 matrix: [lb, ub]

Definition at line 287 of file robot_foot_parameters.h.

◆ getFootPositionFromADS()

etools::Vector2 humoto::walking::RobotFootParameters::getFootPositionFromADS	(	const humoto::LeftOrRight::Type	left_or_right,
		const etools::Matrix2 &	ref_R,
		const etools::Vector2 &	ref_position
	)		const

inline

Get position of a foot or aligned double support based on position of an aligned support or a foot.

Parameters

[in]	left_or_right	left or right foot
[in]	ref_R	orientation of the reference foot / ADS
[in]	ref_position	position of the reference foot / ADS

Returns: 2d position.

Definition at line 261 of file robot_foot_parameters.h.

◆ getNumberOfEntries()

virtual std::size_t humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getNumberOfEntries ( ) const

protectedpure virtualinherited

Get number of entries in the corresponding configuration node.

Returns: number of entries

Implemented in humoto::ConfigurableOptimizationProblem.

◆ getSSCoPBounds()

etools::Matrix2 humoto::walking::RobotFootParameters::getSSCoPBounds ( ) const

inline

Return bounds on position of the CoP in ADS / SS.

Returns: 2x2 matrix: [lb, ub]

Definition at line 307 of file robot_foot_parameters.h.

◆ log()

void humoto::walking::RobotFootParameters::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"robot_foot_parameters"`
	)		const

inline

Log.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Definition at line 320 of file robot_foot_parameters.h.

◆ readConfig() [1/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry

Definition at line 167 of file config.h.

◆ readConfig() [2/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 183 of file config.h.

◆ readConfig() [3/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 202 of file config.h.

◆ readConfig() [4/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry

Definition at line 218 of file config.h.

◆ readConfig() [5/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty
[in]	crash_on_missing_entry

Definition at line 235 of file config.h.

◆ readConfig() [6/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 255 of file config.h.

◆ readNestedConfig()

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readNestedConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read nested configuration node.

Parameters

[in]	reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 132 of file config.h.

◆ setDefaults()

void humoto::walking::RobotFootParameters::setDefaults ( )

inlinevirtual

Initialize to default values (HRP2)

Implements humoto::config::CommonConfigurableBase< true >.

Definition at line 238 of file robot_foot_parameters.h.

◆ writeConfig() [1/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( t_Writer & writer ) const

inlineinherited

Write configuration.

Parameters

[in,out] writer configuration writer

Definition at line 300 of file config.h.

◆ writeConfig() [2/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 313 of file config.h.

◆ writeConfig() [3/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( const std::string & file_name ) const

inlineinherited

Write configuration.

Parameters

[in] file_name file name

Definition at line 328 of file config.h.

◆ writeConfig() [4/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	const std::string &	file_name,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty

Definition at line 342 of file config.h.

◆ writeNestedConfig() [1/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig ( t_Writer & writer ) const

inlineinherited

Write nested configuration node.

Parameters

[in,out] writer configuration writer

Definition at line 272 of file config.h.

◆ writeNestedConfig() [2/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write nested configuration node.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 285 of file config.h.

Member Data Documentation

◆ ads_cop_bounds_

etools::Matrix2 humoto::walking::RobotFootParameters::ads_cop_bounds_

private

Definition at line 163 of file robot_foot_parameters.h.

◆ default_crash_on_missing_entry_

const bool humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::default_crash_on_missing_entry_

staticprotectedinherited

Definition at line 67 of file config.h.

◆ feet_

LeftRightContainer<LeftRightParameters> humoto::walking::RobotFootParameters::feet_

private

parameters corresponding to the left and right feet

Definition at line 168 of file robot_foot_parameters.h.

◆ feet_dist_default_

double humoto::walking::RobotFootParameters::feet_dist_default_

private

Definition at line 152 of file robot_foot_parameters.h.

◆ foot_length_

double humoto::walking::RobotFootParameters::foot_length_

private

Definition at line 153 of file robot_foot_parameters.h.

◆ foot_width_

double humoto::walking::RobotFootParameters::foot_width_

private

Definition at line 154 of file robot_foot_parameters.h.

◆ max_feet_dist_

double humoto::walking::RobotFootParameters::max_feet_dist_

private

Definition at line 151 of file robot_foot_parameters.h.

◆ max_step_len_

double humoto::walking::RobotFootParameters::max_step_len_

private

Various parameters of the feet and steps

Definition at line 149 of file robot_foot_parameters.h.

◆ min_feet_dist_

double humoto::walking::RobotFootParameters::min_feet_dist_

private

Definition at line 150 of file robot_foot_parameters.h.

◆ ss_cop_bounds_

etools::Matrix2 humoto::walking::RobotFootParameters::ss_cop_bounds_

private

CoP bounds in single supports and aligned double supports.

Definition at line 162 of file robot_foot_parameters.h.

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

core/include/walking/robot_foot_parameters.h

Detailed Description

Classes

Public Member Functions

Protected Member Functions

Static Protected Attributes

Private Attributes

Constructor & Destructor Documentation

◆ RobotFootParameters()

Member Function Documentation

◆ finalize()

◆ getADSCoPBounds()

◆ getADSPositionFromFoot()

◆ getConfigSectionID()

◆ getFootBounds()

◆ getFootPositionFromADS()

◆ getNumberOfEntries()

◆ getSSCoPBounds()

◆ log()

◆ readConfig() [1/6]

◆ readConfig() [2/6]

◆ readConfig() [3/6]

◆ readConfig() [4/6]

◆ readConfig() [5/6]

◆ readConfig() [6/6]

◆ readNestedConfig()

◆ setDefaults()

◆ writeConfig() [1/4]

◆ writeConfig() [2/4]

◆ writeConfig() [3/4]

◆ writeConfig() [4/4]

◆ writeNestedConfig() [1/2]

◆ writeNestedConfig() [2/2]

Member Data Documentation

◆ ads_cop_bounds_

◆ default_crash_on_missing_entry_

◆ feet_

◆ feet_dist_default_

◆ foot_length_

◆ foot_width_

◆ max_feet_dist_

◆ max_step_len_

◆ min_feet_dist_

◆ ss_cop_bounds_