humoto::walking::Simple3DFootTrajectory Class Reference

Detailed Description

Class implementing simple example foot trajectory between two 3D points.

trajectory along z is composed of two separate trajectories.

Definition at line 21 of file foot_trajectory.h.

#include <foot_trajectory.h>

Public Member Functions
	Simple3DFootTrajectory ()
	Constructor. More...
etools::Vector3	eval (const double t, const rigidbody::TrajectoryEvaluationType::Type trajectory_type) const
	Evaluate the trajectory. More...
void	eval (humoto::rigidbody::RigidBodyState &foot_state, const double t) const
	Evaluate the trajectory. More...
double	evalx (const double t, const rigidbody::TrajectoryEvaluationType::Type trajectory_type) const
	Evaluate the foot trajectory along x/y/z coordinate. More...
double	evaly (const double t, const rigidbody::TrajectoryEvaluationType::Type trajectory_type) const
	Evaluate the foot trajectory along x/y/z coordinate. More...
double	evalz (const double t, const rigidbody::TrajectoryEvaluationType::Type trajectory_type) const
	Evaluate the foot trajectory along x/y/z coordinate. More...
void	initialize (const etools::Vector3 &a, const etools::Vector3 &b, const double step_height)
	Constructor. Velocities set to zero at both ends of the trajectory. More...
void	initialize (const etools::Vector3 &a, const etools::Vector3 &adot, const etools::Vector3 &b, const etools::Vector3 &bdot, const double step_height)
	Constructor. Velocities set to non-zero at both ends of the trajectory. More...
void	initialize (const humoto::rigidbody::PointMassState &a, const humoto::rigidbody::PointMassState &b, const double step_height)
	Constructor. Velocities set to non-zero at both ends of the trajectory. More...

Private Attributes
humoto::rigidbody::CubicPolynomial1D	x_
humoto::rigidbody::CubicPolynomial1D	y_
humoto::rigidbody::CubicPolynomial1D	z1_
humoto::rigidbody::CubicPolynomial1D	z2_

Constructor & Destructor Documentation

Simple3DFootTrajectory()

humoto::walking::Simple3DFootTrajectory::Simple3DFootTrajectory ( )

inline

Constructor.

Definition at line 27 of file foot_trajectory.h.

Member Function Documentation

eval() [1/2]

etools::Vector3 humoto::walking::Simple3DFootTrajectory::eval ( const double  t, const rigidbody::TrajectoryEvaluationType::Type  trajectory_type  ) const

inline

Evaluate the trajectory.

Parameters

[in]	t	time instant
[in]	trajectory_type	type of trajectory

Returns

Eigen matrix with evaluated trajectory samples

Definition at line 143 of file foot_trajectory.h.

eval() [2/2]

void humoto::walking::Simple3DFootTrajectory::eval ( humoto::rigidbody::RigidBodyState &  foot_state, const double  t  ) const

inline

Evaluate the trajectory.

Parameters

[in,out]	foot_state	state of the foot at the given time instant
[in]	t	time instant

Definition at line 162 of file foot_trajectory.h.

evalx()

double humoto::walking::Simple3DFootTrajectory::evalx ( const double  t, const rigidbody::TrajectoryEvaluationType::Type  trajectory_type  ) const

inline

Evaluate the foot trajectory along x/y/z coordinate.

Parameters

[in]	t	time instant
[in]	trajectory_type	type of trajectory

Returns

value (position/velocity/acceleration)

Definition at line 101 of file foot_trajectory.h.

evaly()

double humoto::walking::Simple3DFootTrajectory::evaly ( const double  t, const rigidbody::TrajectoryEvaluationType::Type  trajectory_type  ) const

inline

Evaluate the foot trajectory along x/y/z coordinate.

Parameters

[in]	t	time instant
[in]	trajectory_type	type of trajectory

Returns

value (position/velocity/acceleration)

Definition at line 111 of file foot_trajectory.h.

evalz()

double humoto::walking::Simple3DFootTrajectory::evalz ( const double  t, const rigidbody::TrajectoryEvaluationType::Type  trajectory_type  ) const

inline

Evaluate the foot trajectory along x/y/z coordinate.

Parameters

[in]	t	time instant
[in]	trajectory_type	type of trajectory

Returns

value (position/velocity/acceleration)

Definition at line 121 of file foot_trajectory.h.

initialize() [1/3]

void humoto::walking::Simple3DFootTrajectory::initialize ( const etools::Vector3 &  a, const etools::Vector3 &  b, const double  step_height  )

inline

Constructor. Velocities set to zero at both ends of the trajectory.

Parameters

[in]	a	initial 3D configuration [x, y, z]
[in]	b	final 3D configuration [x, y, z]
[in]	step_height	height of the step

Definition at line 40 of file foot_trajectory.h.

initialize() [2/3]

void humoto::walking::Simple3DFootTrajectory::initialize ( const etools::Vector3 &  a, const etools::Vector3 &  adot, const etools::Vector3 &  b, const etools::Vector3 &  bdot, const double  step_height  )

inline

Constructor. Velocities set to non-zero at both ends of the trajectory.

Parameters

[in]	a	initial positions [x, y, z]
[in]	adot	initial velocities [xdot, ydot, zdot]
[in]	b	final positions [x, y, z]
[in]	bdot	final velocities [xdot, ydot, zdot]
[in]	step_height	height of the step

Definition at line 62 of file foot_trajectory.h.

initialize() [3/3]

void humoto::walking::Simple3DFootTrajectory::initialize ( const humoto::rigidbody::PointMassState &  a, const humoto::rigidbody::PointMassState &  b, const double  step_height  )

inline

Constructor. Velocities set to non-zero at both ends of the trajectory.

Parameters

[in]	a	initial point mass state
[in]	b	final point mass state
[in]	step_height	height of the step

Definition at line 82 of file foot_trajectory.h.

Member Data Documentation

x_

humoto::rigidbody::CubicPolynomial1D humoto::walking::Simple3DFootTrajectory::x_

private

Definition at line 172 of file foot_trajectory.h.

y_

humoto::rigidbody::CubicPolynomial1D humoto::walking::Simple3DFootTrajectory::y_

private

Definition at line 173 of file foot_trajectory.h.

z1_

humoto::rigidbody::CubicPolynomial1D humoto::walking::Simple3DFootTrajectory::z1_

private

Definition at line 174 of file foot_trajectory.h.

z2_

humoto::rigidbody::CubicPolynomial1D humoto::walking::Simple3DFootTrajectory::z2_

private

Definition at line 175 of file foot_trajectory.h.

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

• core/include/walking/foot_trajectory.h