humoto
Public Member Functions | Public Attributes | Protected Member Functions | Static Protected Attributes | List of all members
humoto::wpg04::WalkParameters Class Referenceabstract

Detailed Description

Class containing options of the walking pattern generator.

Definition at line 24 of file common.h.

#include <common.h>

Inheritance diagram for humoto::wpg04::WalkParameters:
Inheritance graph

Public Member Functions

 WalkParameters ()
 Default constructor. More...
 
std::size_t getDurationMs (const StanceType::Type stance_type) const
 Returns duration of a stance. 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 ()
 Default parameters of the walk. 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

etools::Vector2 com_velocity_
 
StanceType::Type first_ss_type_
 
StanceType::Type first_stance_
 
etools::Vector2 first_stance_com_velocity_
 
std::size_t first_stance_duration_ms_
 
StanceType::Type last_stance_
 
etools::Vector2 last_stance_com_velocity_
 
std::size_t last_stance_duration_ms_
 
std::size_t num_steps_
 
std::size_t ss_duration_ms_
 
double step_height_
 
std::size_t tds_duration_ms_
 
double theta_increment_
 

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...
 

Static Protected Attributes

static const bool default_crash_on_missing_entry_
 

Constructor & Destructor Documentation

◆ WalkParameters()

humoto::wpg04::WalkParameters::WalkParameters ( )
inline

Default constructor.

Definition at line 53 of file common.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.

◆ getDurationMs()

std::size_t humoto::walking::StanceFSMParameters::getDurationMs ( const StanceType::Type  stance_type) const
inlineinherited

Returns duration of a stance.

Parameters
[in]stance_type
Returns

Definition at line 137 of file stance_finite_state_machine.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.

◆ 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]readerconfiguration 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]readerconfiguration reader
[in]crash_on_missing_entry
[in]node_namenode 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]readerconfiguration reader
[in]crash_on_missing_entry
[in]node_namenode 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_namefile 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_namefile name
[in]node_namenode 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_namefile name
[in]crash_on_missing_entry
[in]node_namenode 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_namenode name, the default is used if empty

Definition at line 132 of file config.h.

◆ setDefaults()

void humoto::wpg04::WalkParameters::setDefaults ( )
inlinevirtual

Default parameters of the walk.

Reimplemented from humoto::walking::StanceFSMParameters.

Definition at line 63 of file common.h.

◆ writeConfig() [1/4]

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

Write configuration.

Parameters
[in,out]writerconfiguration 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]writerconfiguration writer
[in]node_namenode 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_namefile 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_namefile name
[in]node_namenode 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]writerconfiguration 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]writerconfiguration writer
[in]node_namenode name, the default is used if empty

Definition at line 285 of file config.h.

Member Data Documentation

◆ com_velocity_

etools::Vector2 humoto::wpg04::WalkParameters::com_velocity_

Definition at line 41 of file common.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.

◆ first_ss_type_

StanceType::Type humoto::walking::StanceFSMParameters::first_ss_type_
inherited

Definition at line 110 of file stance_finite_state_machine.h.

◆ first_stance_

StanceType::Type humoto::walking::StanceFSMParameters::first_stance_
inherited

Definition at line 109 of file stance_finite_state_machine.h.

◆ first_stance_com_velocity_

etools::Vector2 humoto::wpg04::WalkParameters::first_stance_com_velocity_

Definition at line 42 of file common.h.

◆ first_stance_duration_ms_

std::size_t humoto::walking::StanceFSMParameters::first_stance_duration_ms_
inherited

Definition at line 115 of file stance_finite_state_machine.h.

◆ last_stance_

StanceType::Type humoto::walking::StanceFSMParameters::last_stance_
inherited

Definition at line 111 of file stance_finite_state_machine.h.

◆ last_stance_com_velocity_

etools::Vector2 humoto::wpg04::WalkParameters::last_stance_com_velocity_

Definition at line 43 of file common.h.

◆ last_stance_duration_ms_

std::size_t humoto::walking::StanceFSMParameters::last_stance_duration_ms_
inherited

Definition at line 116 of file stance_finite_state_machine.h.

◆ num_steps_

std::size_t humoto::walking::StanceFSMParameters::num_steps_
inherited

Definition at line 117 of file stance_finite_state_machine.h.

◆ ss_duration_ms_

std::size_t humoto::walking::StanceFSMParameters::ss_duration_ms_
inherited

Definition at line 113 of file stance_finite_state_machine.h.

◆ step_height_

double humoto::wpg04::WalkParameters::step_height_

Definition at line 45 of file common.h.

◆ tds_duration_ms_

std::size_t humoto::walking::StanceFSMParameters::tds_duration_ms_
inherited

Definition at line 114 of file stance_finite_state_machine.h.

◆ theta_increment_

double humoto::wpg04::WalkParameters::theta_increment_

Definition at line 46 of file common.h.


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