lipm_walking::SwingFoot Struct Reference

Swing foot interpolator. More...

#include <lipm_walking/SwingFoot.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	addLogEntries (mc_rtc::Logger &logger)
	Add swing foot entries to log. More...
void	integrate (double dt)
	Progress by dt along the swing foot trajectory. More...
void	removeLogEntries (mc_rtc::Logger &logger)
	Remove swing foot entries from log. More...
void	reset (const sva::PTransformd &initPose, const sva::PTransformd &targetPose, double duration, double height)
	Recompute swing foot trajectory for a new pair of contacts. More...
sva::MotionVecd	accel () const
	Get current acceleration as motion vector. More...
double	height ()
	Get current swing foot height. More...
void	landingDuration (double duration)
	Duration of landing phase. More...
void	landingPitch (double pitch)
	Upward pitch angle before landing. More...
sva::PTransformd	pose () const
	Get current pose as Plucker transform. More...
double	remTime () const
	Timing remaining until heel strike. More...
void	takeoffDuration (double duration)
	Set duration of takeoff phase. More...
void	takeoffOffset (const Eigen::Vector3d &offset)
	Offset applied to horizontal position after takeoff. More...
void	takeoffPitch (double pitch)
	Downward pitch angle after takeoff. More...
sva::MotionVecd	vel () const
	Get current velocity as motion vector. More...

Detailed Description

Swing foot interpolator.

Definition at line 42 of file SwingFoot.h.

Member Function Documentation

sva::MotionVecd lipm_walking::SwingFoot::accel ( ) const

inline

Get current acceleration as motion vector.

Definition at line 83 of file SwingFoot.h.

void lipm_walking::SwingFoot::addLogEntries

(

mc_rtc::Logger &

logger

)

Add swing foot entries to log.

Parameters

logger

Logger.

Definition at line 77 of file SwingFoot.cpp.

double lipm_walking::SwingFoot::height ( )

inline

Get current swing foot height.

Definition at line 91 of file SwingFoot.h.

void lipm_walking::SwingFoot::integrate

(

double

dt

)

Progress by dt along the swing foot trajectory.

Parameters

dt	Integration step.

Definition at line 95 of file SwingFoot.cpp.

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

inline

Duration of landing phase.

Parameters

duration

New duration.

Definition at line 101 of file SwingFoot.h.

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

inline

Upward pitch angle before landing.

Parameters

pitch

Pitch angle.

Definition at line 111 of file SwingFoot.h.

sva::PTransformd lipm_walking::SwingFoot::pose ( ) const

inline

Get current pose as Plucker transform.

Definition at line 119 of file SwingFoot.h.

void lipm_walking::SwingFoot::removeLogEntries

(

mc_rtc::Logger &

logger

)

Remove swing foot entries from log.

Parameters

logger

Logger.

Definition at line 86 of file SwingFoot.cpp.

double lipm_walking::SwingFoot::remTime ( ) const

inline

Timing remaining until heel strike.

Definition at line 127 of file SwingFoot.h.

void lipm_walking::SwingFoot::reset	(	const sva::PTransformd &	initPose,
		const sva::PTransformd &	targetPose,
		double	duration,
		double	height
	)

Recompute swing foot trajectory for a new pair of contacts.

Parameters

initPose	Pose that the swing foot starts from.
targetPose	Target pose the swing foot lands onto.
duration	Duration of the trajectory.
height	Apex height of swing trajectory.

Definition at line 36 of file SwingFoot.cpp.

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

inline

Set duration of takeoff phase.

Parameters

duration

New duration.

Definition at line 137 of file SwingFoot.h.

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

inline

Offset applied to horizontal position after takeoff.

Parameters

offset

Offset.

Definition at line 147 of file SwingFoot.h.

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

inline

Downward pitch angle after takeoff.

Parameters

pitch

Pitch angle.

Definition at line 157 of file SwingFoot.h.

sva::MotionVecd lipm_walking::SwingFoot::vel ( ) const

inline

Get current velocity as motion vector.

Definition at line 165 of file SwingFoot.h.