humoto::walking::RobotFootParameters::LeftRightParameters Class Reference

Detailed Description

These parameters are defined for left and right foot/side.

Definition at line 60 of file robot_foot_parameters.h.

Public Member Functions
etools::Vector2	getADSPositionFromFoot (const etools::Matrix2 &ss_R, const etools::Vector2 &ss_position) const
	Compute position of an aligned double support based on position and orientation of a foot. More...
etools::Matrix2	getFootPositionBounds (const FootBoundsType::Type bounds_type) const
	Get bounds on the foot position. More...
etools::Vector2	getFootPositionFromADS (const etools::Matrix2 &ds_R, const etools::Vector2 &ds_position) const
	Compute position of a foot based on position and orientation of an aligned double support. More...

Public Attributes
etools::Vector2	foot_position_in_ads_
etools::Vector2	ads_position_from_ss_
etools::Matrix2	foot_position_bounds_ss_
etools::Matrix2	foot_position_fixed_ss_
etools::Matrix2	foot_position_fixed_ds_

Member Function Documentation

getADSPositionFromFoot()

etools::Vector2 humoto::walking::RobotFootParameters::LeftRightParameters::getADSPositionFromFoot ( const etools::Matrix2 &  ss_R, const etools::Vector2 &  ss_position  ) const

inline

Compute position of an aligned double support based on position and orientation of a foot.

Parameters

[in]	ss_R	2d orientation matrix
[in]	ss_position	2d position of the foot

Returns

2d position of an ADS

Definition at line 110 of file robot_foot_parameters.h.

getFootPositionBounds()

etools::Matrix2 humoto::walking::RobotFootParameters::LeftRightParameters::getFootPositionBounds ( const FootBoundsType::Type  bounds_type ) const

inline

Get bounds on the foot position.

Parameters

[in]

bounds_type

type of the bounds

Returns

2d matix: [lb, ub]

Definition at line 124 of file robot_foot_parameters.h.

getFootPositionFromADS()

etools::Vector2 humoto::walking::RobotFootParameters::LeftRightParameters::getFootPositionFromADS ( const etools::Matrix2 &  ds_R, const etools::Vector2 &  ds_position  ) const

inline

Compute position of a foot based on position and orientation of an aligned double support.

Parameters

[in]	ds_R	2d orientation matrix
[in]	ds_position	2d position of the ADS

Returns

2d position of a foot

Definition at line 94 of file robot_foot_parameters.h.

Member Data Documentation

ads_position_from_ss_

etools::Vector2 humoto::walking::RobotFootParameters::LeftRightParameters::ads_position_from_ss_

Definition at line 70 of file robot_foot_parameters.h.

foot_position_bounds_ss_

etools::Matrix2 humoto::walking::RobotFootParameters::LeftRightParameters::foot_position_bounds_ss_

Bounds on positions of the feet under various conditions.

Definition at line 78 of file robot_foot_parameters.h.

foot_position_fixed_ds_

etools::Matrix2 humoto::walking::RobotFootParameters::LeftRightParameters::foot_position_fixed_ds_

Definition at line 80 of file robot_foot_parameters.h.

foot_position_fixed_ss_

etools::Matrix2 humoto::walking::RobotFootParameters::LeftRightParameters::foot_position_fixed_ss_

Definition at line 79 of file robot_foot_parameters.h.

foot_position_in_ads_

etools::Vector2 humoto::walking::RobotFootParameters::LeftRightParameters::foot_position_in_ads_

Automatically computed variables, which are used to determine positions of aligned double supports with respect to single supports and vice versa.

Definition at line 69 of file robot_foot_parameters.h.

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

• core/include/walking/robot_foot_parameters.h