humoto::wpg04::ModelState Class Reference

Detailed Description

Definition at line 16 of file model_state.h.

#include <model_state.h>

Inheritance diagram for humoto::wpg04::ModelState:

Public Member Functions
	ModelState ()
	Default constructor. More...
	ModelState (const humoto::walking::RobotFootParameters &robot_parameters, const double com_height)
	Construct class using given parameters. More...
void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="model_state") 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	set (const humoto::walking::RobotFootParameters &robot_parameters, const double com_height)
	Initialize state using parameters. More...
void	set (const walking::StanceType::Type current_stance, const rigidbody::PointMassState &com_state, const rigidbody::RigidBodyState &left_foot_state, const rigidbody::RigidBodyState &right_foot_state)
	Initialize state directly with the states of the CoM and feet. 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...

Public Attributes
humoto::rigidbody::PointMassState	com_state_
	State of the CoM. More...
humoto::LeftRightContainer< humoto::rigidbody::RigidBodyState >	feet_
	States of the feet. More...
walking::StanceType::Type	next_stance_type_
	next stance type More...
walking::StanceType::Type	stance_type_
	current stance type More...

Protected Member Functions
virtual void	finalize ()
	This function is called automaticaly after reading a configuration file. Does nothing by default. 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...
void	setDefaults (const humoto::walking::RobotFootParameters &foot_param, const double com_height=0.814)

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Private Member Functions
void	initializeFoot (const humoto::walking::RobotFootParameters &foot_param, const humoto::LeftOrRight::Type left_or_right, const double theta, const etools::Vector2 &initial_ds_position)
	Initialize foot state in an ADS. More...

Constructor & Destructor Documentation

ModelState() [1/2]

humoto::wpg04::ModelState::ModelState ( )

inline

Default constructor.

Definition at line 101 of file model_state.h.

ModelState() [2/2]

humoto::wpg04::ModelState::ModelState ( const humoto::walking::RobotFootParameters &  robot_parameters, const double  com_height  )

inline

Construct class using given parameters.

Parameters

[in]	robot_parameters	parameters of the feet
[in]	com_height	height of the CoM (with respect to the feet)

Definition at line 113 of file model_state.h.

Member Function Documentation

finalize()

virtual void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::finalize ( )

inlineprotectedvirtualinherited

This function is called automaticaly after reading a configuration file. Does nothing by default.

Reimplemented in humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGILU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIL< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASLU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsALU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB0< TaskBase > >, humoto::pepper_mpc::MPCParameters, humoto::pepper_mpc::MotionParameters, humoto::walking::RobotFootParameters, humoto::wpg04::MPCParameters, humoto::pepper_mpc::RobotParameters, humoto::pepper_ik::WBCParameters, humoto::pepper_ik::GeneralizedCoordinates< t_features >, humoto::wpg04::TaskCoPPosition, humoto::wpg04::TaskCoMVelocity, humoto::wpg04::TaskCoPVelocity, and humoto::wpg04::TaskTerminalConstraint.

Definition at line 102 of file config.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.

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.

initializeFoot()

void humoto::wpg04::ModelState::initializeFoot ( const humoto::walking::RobotFootParameters &  foot_param, const humoto::LeftOrRight::Type  left_or_right, const double  theta, const etools::Vector2 &  initial_ds_position  )

inlineprivate

Initialize foot state in an ADS.

Parameters

[in]	foot_param	parameters of the feet
[in]	left_or_right	left or right foot
[in]	theta	orientation of the ADS
[in]	initial_ds_position	position of the ADS.

Definition at line 38 of file model_state.h.

log()

void humoto::wpg04::ModelState::log ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "model_state"  ) const

inlinevirtual

Log.

Parameters

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

Implements humoto::ModelState.

Definition at line 179 of file model_state.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.

set() [1/2]

void humoto::wpg04::ModelState::set ( const humoto::walking::RobotFootParameters &  robot_parameters, const double  com_height  )

inline

Initialize state using parameters.

Parameters

[in]	robot_parameters	parameters of the feet
[in]	com_height	height of the CoM (with respect to the feet)

Definition at line 137 of file model_state.h.

set() [2/2]

void humoto::wpg04::ModelState::set ( const walking::StanceType::Type  current_stance, const rigidbody::PointMassState &  com_state, const rigidbody::RigidBodyState &  left_foot_state, const rigidbody::RigidBodyState &  right_foot_state  )

inline

Initialize state directly with the states of the CoM and feet.

Parameters

[in]	current_stance	current stance
[in]	com_state	state of the CoM
[in]	left_foot_state	state of the left foot
[in]	right_foot_state	state of the right foot

Definition at line 153 of file model_state.h.

setDefaults() [1/2]

void humoto::wpg04::ModelState::setDefaults ( const humoto::walking::RobotFootParameters &  foot_param, const double  com_height = 0.814  )

inlineprotected

Definition at line 60 of file model_state.h.

setDefaults() [2/2]

void humoto::wpg04::ModelState::setDefaults ( )

inlinevirtual

Initialize to default values (HRP2)

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

Definition at line 123 of file model_state.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

com_state_

humoto::rigidbody::PointMassState humoto::wpg04::ModelState::com_state_

State of the CoM.

Definition at line 84 of file model_state.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_

humoto::LeftRightContainer<humoto::rigidbody::RigidBodyState> humoto::wpg04::ModelState::feet_

States of the feet.

Definition at line 87 of file model_state.h.

next_stance_type_

walking::StanceType::Type humoto::wpg04::ModelState::next_stance_type_

next stance type

Definition at line 93 of file model_state.h.

stance_type_

walking::StanceType::Type humoto::wpg04::ModelState::stance_type_

current stance type

Definition at line 90 of file model_state.h.

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

• modules/wpg04/include/wpg04/model_state.h