Sequence of footsteps with gait parameters. More...

#include <lipm_walking/FootstepPlan.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	complete (const Sole &sole)
	Complete contacts from sole parameters. More...

sva::PTransformd	computeInitialTransform (const mc_rbdyn::Robot &robot) const
	Compute initial floating-base transform over first contact. More...

void	goToNextFootstep ()
	Advance to next footstep in plan. More...

void	goToNextFootstep (const sva::PTransformd &actualTargetPose)
	Advance to next footstep in plan, taking into account drift in reaching target contact. More...

void	load (const mc_rtc::Configuration &config)
	Load plan from configuration dictionary. More...

void	reset (unsigned startIndex)
	Rewind plan to a given contact. More...

void	restorePreviousFootstep ()
	Rewind one footstep back in plan. More...

void	save (mc_rtc::Configuration &config) const
	Save plan to configuration dictionary. More...

void	updateInitialTransform (const sva::PTransformd &X_0_lf, const sva::PTransformd &X_0_rf, double initHeight)
	Update plan coordinates from robot foot transforms. More...

void	appendContact (Contact step)
	Append footstep to plan. More...

double	comHeight () const
	Default CoM height above ground contact. More...

void	comHeight (double height)
	Set default CoM height above ground contact. More...

const std::vector< Contact > &	contacts () const
	Reference to list of contacts. More...

double	doubleSupportDuration () const
	Default double-support duration. More...

void	doubleSupportDuration (double duration)
	Set default double-support duration. More...

double	finalDSPDuration () const
	Get final double support phase duration. More...

bool	hasTorsoPitch () const
	Does the plan provide a reference torso pitch? More...

void	finalDSPDuration (double duration)
	Set final double support phase duration. More...

double	initDSPDuration () const
	Get initial double support phase duration. More...

void	initDSPDuration (double duration)
	Set initial double support phase duration. More...

const sva::PTransformd &	initPose ()
	Initial transform with respect to world frame. More...

double	landingDuration () const
	Get swing foot landing ratio. More...

void	landingDuration (double duration)
	Set swing foot landing duration. More...

double	landingPitch () const
	Get swing foot landing pitch angle. More...

void	landingPitch (double pitch)
	Set swing foot takeoff pitch angle. More...

const Contact &	nextContact () const
	Next contact in plan. More...

const Contact &	prevContact () const
	Previous contact in plan. More...

void	resetContacts (const std::vector< Contact > &contacts)
	Reset contacts from another footstep plan. More...

double	singleSupportDuration () const
	Default single-support duration. More...

void	singleSupportDuration (double duration)
	Set single-support duration. More...

const Contact &	supportContact () const
	Current support contact. More...

void	swapFirstTwoContacts ()
	Swap first two contacts in plan. More...

double	swingHeight () const
	Default swing-foot height. More...

void	swingHeight (double height)
	Set default swing-foot height. More...

double	takeoffDuration () const
	Get swing foot takeoff duration. More...

void	takeoffDuration (double duration)
	Set swing foot takeoff duration. More...

Eigen::Vector3d	takeoffOffset () const
	Get swing foot takeoff offset. More...

void	takeoffOffset (const Eigen::Vector3d &offset)
	Set swing foot takeoff offset. More...

double	takeoffPitch () const
	Get swing foot takeoff pitch angle. More...

void	takeoffPitch (double pitch)
	Set swing foot takeoff pitch angle. More...

const Contact &	targetContact () const
	Current target contact. More...

double	torsoPitch () const
	Reference torso pitch angle. More...

void	rewind ()
	Rewind plan to the beginning. More...

Public Attributes
mc_rtc::Configuration	mpcConfig

std::string	name = ""

Detailed Description

Sequence of footsteps with gait parameters.

Definition at line 41 of file FootstepPlan.h.

Member Function Documentation

void lipm_walking::FootstepPlan::appendContact ( Contact step )

inline

Append footstep to plan.

Definition at line 114 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::comHeight ( ) const

inline

Default CoM height above ground contact.

Definition at line 122 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::comHeight ( double height )

inline

Set default CoM height above ground contact.

Definition at line 130 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::complete ( const Sole & sole )

Complete contacts from sole parameters.

Parameters

sole	Sole parameters.

Definition at line 96 of file FootstepPlan.cpp.

sva::PTransformd lipm_walking::FootstepPlan::computeInitialTransform ( const mc_rbdyn::Robot & robot ) const

Compute initial floating-base transform over first contact.

Parameters

robot Robot model.

Definition at line 161 of file FootstepPlan.cpp.

const std::vector<Contact>& lipm_walking::FootstepPlan::contacts ( ) const

inline

Reference to list of contacts.

Definition at line 138 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::doubleSupportDuration ( ) const

inline

Default double-support duration.

Definition at line 146 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::doubleSupportDuration ( double duration )

inline

Set default double-support duration.

Parameters

duration New duration.

Definition at line 156 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::finalDSPDuration ( ) const

inline

Get final double support phase duration.

Definition at line 164 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::finalDSPDuration ( double duration )

inline

Set final double support phase duration.

Parameters

duration New duration.

Definition at line 182 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::goToNextFootstep ( )

Advance to next footstep in plan.

Definition at line 125 of file FootstepPlan.cpp.

void lipm_walking::FootstepPlan::goToNextFootstep ( const sva::PTransformd & actualTargetPose )

Advance to next footstep in plan, taking into account drift in reaching target contact.

Parameters

actualTargetPose Actual target pose.

Definition at line 134 of file FootstepPlan.cpp.

bool lipm_walking::FootstepPlan::hasTorsoPitch ( ) const

inline

Does the plan provide a reference torso pitch?

Definition at line 172 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::initDSPDuration ( ) const

inline

Get initial double support phase duration.

Definition at line 190 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::initDSPDuration ( double duration )

inline

Set initial double support phase duration.

Definition at line 198 of file FootstepPlan.h.

const sva::PTransformd& lipm_walking::FootstepPlan::initPose ( )

inline

Initial transform with respect to world frame.

Returns: X_0_init Initial transform of the plan.

Definition at line 208 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::landingDuration ( ) const

inline

Get swing foot landing ratio.

Definition at line 216 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::landingDuration ( double duration )

inline

Set swing foot landing duration.

Parameters

duration New duration.

Definition at line 230 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::landingPitch ( ) const

inline

Get swing foot landing pitch angle.

Definition at line 238 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::landingPitch ( double pitch )

inline

Set swing foot takeoff pitch angle.

Definition at line 250 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::load ( const mc_rtc::Configuration & config )

Load plan from configuration dictionary.

Parameters

config Configuration dictionary.

Definition at line 53 of file FootstepPlan.cpp.

const Contact& lipm_walking::FootstepPlan::nextContact ( ) const

inline

Next contact in plan.

Definition at line 260 of file FootstepPlan.h.

const Contact& lipm_walking::FootstepPlan::prevContact ( ) const

inline

Previous contact in plan.

Definition at line 268 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::reset ( unsigned startIndex )

Rewind plan to a given contact.

Parameters

startIndex Index of first support contact.

Definition at line 117 of file FootstepPlan.cpp.

void lipm_walking::FootstepPlan::resetContacts ( const std::vector< Contact > & contacts )

inline

Reset contacts from another footstep plan.

Parameters

contacts New sequence of contacts.

Definition at line 278 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::restorePreviousFootstep ( )

Rewind one footstep back in plan.

Note: This function cannot rewind more than one step. It is only used when activating a DoubleSupport to Standing transition.

Definition at line 148 of file FootstepPlan.cpp.

void lipm_walking::FootstepPlan::rewind ( )

inline

Rewind plan to the beginning.

Definition at line 420 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::save ( mc_rtc::Configuration & config ) const

Save plan to configuration dictionary.

Parameters

config Configuration dictionary.

Definition at line 73 of file FootstepPlan.cpp.

double lipm_walking::FootstepPlan::singleSupportDuration ( ) const

inline

Default single-support duration.

Definition at line 286 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::singleSupportDuration ( double duration )

inline

Set single-support duration.

Definition at line 294 of file FootstepPlan.h.

const Contact& lipm_walking::FootstepPlan::supportContact ( ) const

inline

Current support contact.

Definition at line 302 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::swapFirstTwoContacts ( )

inline

Swap first two contacts in plan.

Definition at line 310 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::swingHeight ( ) const

inline

Default swing-foot height.

Definition at line 318 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::swingHeight ( double height )

inline

Set default swing-foot height.

Definition at line 330 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::takeoffDuration ( ) const

inline

Get swing foot takeoff duration.

Definition at line 340 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::takeoffDuration ( double duration )

inline

Set swing foot takeoff duration.

Parameters

duration New duration.

Definition at line 354 of file FootstepPlan.h.

Eigen::Vector3d lipm_walking::FootstepPlan::takeoffOffset ( ) const

inline

Get swing foot takeoff offset.

Definition at line 362 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::takeoffOffset ( const Eigen::Vector3d & offset )

inline

Set swing foot takeoff offset.

Definition at line 374 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::takeoffPitch ( ) const

inline

Get swing foot takeoff pitch angle.

Definition at line 382 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::takeoffPitch ( double pitch )

inline

Set swing foot takeoff pitch angle.

Definition at line 394 of file FootstepPlan.h.

const Contact& lipm_walking::FootstepPlan::targetContact ( ) const

inline

Current target contact.

Definition at line 404 of file FootstepPlan.h.

double lipm_walking::FootstepPlan::torsoPitch ( ) const

inline

Reference torso pitch angle.

Definition at line 412 of file FootstepPlan.h.

void lipm_walking::FootstepPlan::updateInitialTransform	(	const sva::PTransformd &	X_0_lf,
		const sva::PTransformd &	X_0_rf,
		double	initHeight
	)

Update plan coordinates from robot foot transforms.

Parameters

X_0_lf	Left foot transform.
X_0_rf	Right foot transform.
initHeight	Height of first two contacts after transform.

Definition at line 171 of file FootstepPlan.cpp.

Member Data Documentation

mc_rtc::Configuration lipm_walking::FootstepPlan::mpcConfig

Definition at line 426 of file FootstepPlan.h.

std::string lipm_walking::FootstepPlan::name = ""

Definition at line 427 of file FootstepPlan.h.

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation