sot::PatternGenerator Class Reference

This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library. More...

#include <sot-pattern-generator/pg.h>

Collaboration diagram for sot::PatternGenerator:

[legend]

List of all members.

Public Types
typedef int	Dummy
Public Member Functions
virtual const std::string &	getClassName (void) const
	PatternGenerator (const std::string &name="PatternGenerator")
	Default constructor.
virtual	~PatternGenerator (void)
	Default destructor.
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
	This method pass on to the Pattern Generator Interface to interpret the commands.
Methods related to the data files.

bool	buildModel (void)
	Build the pattern generator interface.
bool	InitState (void)
	Initialize the state of the robot.
void	setPreviewControlParametersFile (const std::string &filename)
	Set the directory which contains the parameters for the preview control.
void	setVrmlDirectory (const std::string &filename)
	Set the directory which contains the VRML files robot's model.
void	setVrmlMainFile (const std::string &filename)
	Set the name of the VRML file.
void	setXmlSpecificitiesFile (const std::string &filename)
	Set the name of the file specifying a semantic to the joints. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL.
void	setXmlRankFile (const std::string &filename)
	Set the name of the file specifying the rank of the joints in the state vector.
void	setParamPreviewFile (const std::string &filename)
	Set the name of the file specifying the control parameters of the preview control.
pg::PatternGeneratorInterface *	GetPatternGeneratorInterface ()
	Give access directly to the pattern generator... You really have to know what your are doing.
Public Attributes
Internal signals.

dg::SignalTimeDependent< Dummy, int >	firstSINTERN
	Internal signal for initialization and one shot signals.
dg::SignalTimeDependent< Dummy, int >	OneStepOfControlS
	Internal signal to trigger one step of the algorithm.
External signals

dg::SignalPtr< ml::Vector, int >	jointPositionSIN
	Real state position values.
dg::SignalPtr< ml::Vector, int >	motorControlJointPositionSIN
	Motor control joint position values.
dg::SignalPtr< ml::Vector, int >	ZMPPreviousControllerSIN
	Previous ZMP value (ZMP send by the preceding controller).
dg::SignalTimeDependent < ml::Vector, int >	ZMPRefSOUT
	Externalize the ZMP reference .
dg::SignalTimeDependent < ml::Vector, int >	CoMRefSOUT
	Externalize the CoM reference.
dg::SignalTimeDependent < ml::Vector, int >	dCoMRefSOUT
	Externalize the CoM reference.
dg::SignalPtr< ml::Vector, int >	comSIN
	Take the current CoM.
dg::SignalPtr< ml::Vector, int >	velocitydesSIN
	Take the current desired velocity.
dg::SignalPtr < MatrixHomogeneous, int >	LeftFootCurrentPosSIN
	Take the current left foot homogeneous position.
dg::SignalPtr < MatrixHomogeneous, int >	RightFootCurrentPosSIN
	Take the current right foot homogeneous position.
dg::SignalTimeDependent < MatrixHomogeneous, int >	LeftFootRefSOUT
	Externalize the left foot position reference.
dg::SignalTimeDependent < MatrixHomogeneous, int >	RightFootRefSOUT
	Externalize the right foot position reference.
dg::SignalTimeDependent < MatrixHomogeneous, int >	dotLeftFootRefSOUT
	Externalize the left foot position reference.
dg::SignalTimeDependent < MatrixHomogeneous, int >	dotRightFootRefSOUT
	Externalize the right foot position reference.
dg::SignalTimeDependent < MatrixHomogeneous, int >	FlyingFootRefSOUT
	Externalize the foot which is not considered as support foot, the information are given in a relative referentiel.
dg::SignalTimeDependent < unsigned int, int >	SupportFootSOUT
	Externalize the support foot.
dg::SignalTimeDependent < ml::Vector, int >	jointWalkingErrorPositionSOUT
	Externalize the joint values for walking.
dg::SignalTimeDependent < VectorRollPitchYaw, int >	comattitudeSOUT
	Externalize the com attitude.
dg::SignalTimeDependent < VectorRollPitchYaw, int >	dcomattitudeSOUT
	Externalize the dcom attitude.
dg::SignalTimeDependent < VectorRollPitchYaw, int >	waistattitudeSOUT
	Externalize the waist attitude.
dg::SignalTimeDependent < VectorRollPitchYaw, int >	waistattitudeabsoluteSOUT
	Externalize the absolute waist attitude.
dg::SignalTimeDependent < ml::Vector, int >	waistpositionSOUT
	Externalize the waist position.
dg::SignalTimeDependent < ml::Vector, int >	waistpositionabsoluteSOUT
	Externalize the absolute waist position.
dg::SignalTimeDependent < unsigned int, int >	dataInProcessSOUT
	true iff PG is processing. Use it for synchronize.
dg::SignalTimeDependent < ml::Vector, int >	InitZMPRefSOUT
	Externalize the initial ZMP reference .
dg::SignalTimeDependent < ml::Vector, int >	InitCoMRefSOUT
	Externalize the initial CoM reference.
dg::SignalTimeDependent < ml::Vector, int >	InitWaistPosRefSOUT
	Externalize the initial Waist reference.
dg::SignalTimeDependent < VectorRollPitchYaw, int >	InitWaistAttRefSOUT
	Externalize the initial Waist reference.
dg::SignalTimeDependent < MatrixHomogeneous, int >	InitLeftFootRefSOUT
	Externalize the left foot position reference.
dg::SignalTimeDependent < MatrixHomogeneous, int >	InitRightFootRefSOUT
	Externalize the right foot position reference.
Static Public Attributes
Some constant to define the type
of frame reference.
static const int	WORLD_FRAME = 0
	Specify that the frame is expressed in the world reference frame.
static const int	EGOCENTERED_FRAME = 1
	Specify that the frame is expressed in the robot ego centered frame.
static const int	LEFT_FOOT_CENTERED_FRAME = 2
	Specify that the frame is expressed in the left foot centered frame.
static const int	WAIST_CENTERED_FRAME = 3
	Specify that the frame is expressed in the waist centered frame.
Protected Member Functions
unsigned int &	getSupportFoot (unsigned int &res, int time)
	Getting the current support foot: 1 Left -1 Right.
int &	InitOneStepOfControl (int &dummy, int time)
	Trigger the initialization of the algorithm.
int &	OneStepOfControl (int &dummy, int time)
	Trigger one step of the algorithm.
void	ParseCmdFile (std::istringstream &cmdArg, std::ostream &os)
void	FromAbsoluteFootPosToDotHomogeneous (pg::FootAbsolutePosition aFootPosition, MatrixHomogeneous &aFootMH, MatrixHomogeneous &adotFootMH)
	Transfert from a current absolute foot position to a dot homogeneous matrix.
void	FromAbsoluteFootPosToHomogeneous (pg::FootAbsolutePosition aFootPosition, MatrixHomogeneous &aFootMH)
	Transfert from a current absolute foot position to a homogeneous matrix.
void	getAbsoluteWaistPosAttHomogeneousMatrix (MatrixHomogeneous &aWaistMH)
	Provide an homogeneous matrix from the current waist position and attitude.
ml::Vector &	getInitZMPRef (ml::Vector &res, int time)
	Internal method to get the initial reference ZMP at a given time.
ml::Vector &	getInitCoMRef (ml::Vector &res, int time)
	Internal method to get the initial reference CoM at a given time.
ml::Vector &	getInitWaistPosRef (ml::Vector &res, int time)
	Internal method to get the initial reference CoM at a given time.
VectorRollPitchYaw &	getInitWaistAttRef (VectorRollPitchYaw &res, int time)
	Internal method to get the initial reference CoM at a given time.
MatrixHomogeneous &	getInitLeftFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the left foot.
MatrixHomogeneous &	getInitRightFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the right foot.
	MAL_VECTOR (, double) m_ZMPPrevious
Internal methods to access reference trajectories.

ml::Vector &	getZMPRef (ml::Vector &res, int time)
	Internal method to get the reference ZMP at a given time.
ml::Vector &	getCoMRef (ml::Vector &res, int time)
	Internal method to get the reference CoM at a given time.
ml::Vector &	getdCoMRef (ml::Vector &res, int time)
	Internal method to get the reference dCoM at a given time.
MatrixHomogeneous &	getLeftFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the left foot.
MatrixHomogeneous &	getRightFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the right foot.
MatrixHomogeneous &	getdotLeftFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the derivative of the left foot.
MatrixHomogeneous &	getdotRightFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the derivative of the right foot.
MatrixHomogeneous &	getFlyingFootRef (MatrixHomogeneous &res, int time)
	Internal method to get the position of the flying foot.
ml::Vector &	getjointWalkingErrorPosition (ml::Vector &res, int time)
	Internal method to get the joint position for walking.
VectorRollPitchYaw &	getdComAttitude (VectorRollPitchYaw &res, int time)
	Internal method to get the derivative of the com attitude.
VectorRollPitchYaw &	getComAttitude (VectorRollPitchYaw &res, int time)
	Internal method to get the attitude of the com.
VectorRollPitchYaw &	getWaistAttitude (VectorRollPitchYaw &res, int time)
	Internal method to get the attitude of the waist.
VectorRollPitchYaw &	getWaistAttitudeAbsolute (VectorRollPitchYaw &res, int time)
	Internal method to get the absolute attitude of the waist.
unsigned &	getDataInProcess (unsigned &res, int time)
	Internal method to get the dataInPorcess flag.
ml::Vector &	getWaistPosition (ml::Vector &res, int time)
	Internal method to get the position of the waist.
ml::Vector &	getWaistPositionAbsolute (ml::Vector &res, int time)
	Internal method to get the absolute position of the waist.
Protected Attributes
pg::PatternGeneratorInterface *	m_PGI
	Pointer towards the interface of the pattern generator.
bool	m_init
	Boolean variable to initialize the object by loading an object.
bool	m_InitPositionByRealState
	Boolean variable to initialize the position: first through the real state of the robot, then through the motor command.
int	m_SupportFoot
	Integer for the support foot.
int	m_ReferenceFrame
	Keep the frame reference.
double	m_AnkleSoilDistance
	Distance between ankle and soil.
double	m_TimeStep
	Time step.
bool	m_DoubleSupportPhaseState
	Double support phase detected.
int	m_DSStartingTime
unsigned int	m_LocalTime
	iteration time.
Fields to store name and positions of data files

std::string	m_PreviewControlParametersFile
	Some information related to the preview control.
std::string	m_vrmlDirectory
	Directory where the VRML file of the robot's model is located.
std::string	m_vrmlMainFile
	Name of the VRML file which containes the robot's model.
std::string	m_xmlSpecificitiesFile
	Name of the XML file which contains humanoid specific informations.
std::string	m_xmlRankFile
	Name of the XML file which specificies the rank of the Joints in the state vector.
Keep information computed once for each time.

MatrixHomogeneous	m_k_Waist_kp1
	Rigit motion between two waist positions at the beginning of the walking and at the end of the walking.
MatrixHomogeneous	m_LeftFootPosition
	Absolute Position for the left and right feet.
MatrixHomogeneous	m_RightFootPosition
MatrixHomogeneous	m_dotLeftFootPosition
	Absolute Derivate for the left and right feet.
MatrixHomogeneous	m_dotRightFootPosition
MatrixHomogeneous	m_InitLeftFootPosition
	Initial Absolute Starting Position for the left and right feet.
MatrixHomogeneous	m_InitRightFootPosition
MatrixHomogeneous	m_MotionSinceInstanciationToThisSequence
	Keep track of the motion between sequence of motions.
MatrixHomogeneous	m_FlyingFootPosition
	Relative Position of the flying foot.
ml::Vector	m_ZMPRefPos
	Absolute position of the reference ZMP.
ml::Vector	m_ComAttitude
	Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum.
ml::Vector	m_dComAttitude
	Com Attitude: does not really exist apart when the robot is seen as an inverted pendulum.
ml::Vector	m_COMRefPos
	Absolute position of the reference CoM.
ml::Vector	m_dCOMRefPos
	Absolute position of the reference dCoM.
ml::Vector	m_InitZMPRefPos
	Initial Absolute position of the reference ZMP.
ml::Vector	m_InitWaistRefPos
	Initial Absolute position and attitude of the reference Waist.
ml::Vector	m_InitWaistRefAtt
ml::Vector	m_InitCOMRefPos
	Initial Absolute position of the reference CoM.
ml::Vector	m_WaistPosition
	Waist position.
ml::Vector	m_WaistPositionAbsolute
	Waist position Absolute.
ml::Vector	m_WaistAttitude
	Waist Attitude.
ml::Vector	m_WaistAttitudeAbsolute
	Waist Attitude Absolute.
ml::Vector	m_JointErrorValuesForWalking
	Joint values for walking.
ml::Vector	m_VelocityReference
	Velocity reference for Herdt's PG.
unsigned int	m_dataInProcess
	true iff the pattern if dealing with data, false if pg is not working anymore/yet.
Static Protected Attributes
static const std::string	CLASS_NAME
	The class name.

Detailed Description

This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library.

Member Typedef Documentation

typedef int sot::PatternGenerator::Dummy

Constructor & Destructor Documentation

sot::PatternGenerator::PatternGenerator ( const std::string & name = "PatternGenerator" )

Default constructor.

virtual sot::PatternGenerator::~PatternGenerator ( void ) [virtual]

Default destructor.

Member Function Documentation

bool sot::PatternGenerator::buildModel ( void )

Build the pattern generator interface.

virtual void sot::PatternGenerator::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)			`[virtual]`

This method pass on to the Pattern Generator Interface to interpret the commands.

void sot::PatternGenerator::FromAbsoluteFootPosToDotHomogeneous	(	pg::FootAbsolutePosition	aFootPosition,
		MatrixHomogeneous &	aFootMH,
		MatrixHomogeneous &	adotFootMH
	)			`[protected]`

Transfert from a current absolute foot position to a dot homogeneous matrix.

void sot::PatternGenerator::FromAbsoluteFootPosToHomogeneous	(	pg::FootAbsolutePosition	aFootPosition,
		MatrixHomogeneous &	aFootMH
	)			`[protected]`

Transfert from a current absolute foot position to a homogeneous matrix.

void sot::PatternGenerator::getAbsoluteWaistPosAttHomogeneousMatrix ( MatrixHomogeneous & aWaistMH ) [protected]

Provide an homogeneous matrix from the current waist position and attitude.

virtual const std::string& sot::PatternGenerator::getClassName ( void ) const [inline, virtual]

VectorRollPitchYaw& sot::PatternGenerator::getComAttitude	(	VectorRollPitchYaw &	res,
		int	time
	)			`[protected]`

Internal method to get the attitude of the com.

ml::Vector& sot::PatternGenerator::getCoMRef	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the reference CoM at a given time.

unsigned& sot::PatternGenerator::getDataInProcess	(	unsigned &	res,
		int	time
	)			`[protected]`

Internal method to get the dataInPorcess flag.

VectorRollPitchYaw& sot::PatternGenerator::getdComAttitude	(	VectorRollPitchYaw &	res,
		int	time
	)			`[protected]`

Internal method to get the derivative of the com attitude.

ml::Vector& sot::PatternGenerator::getdCoMRef	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the reference dCoM at a given time.

MatrixHomogeneous& sot::PatternGenerator::getdotLeftFootRef	(	MatrixHomogeneous &	res,
		int	time
	)			`[protected]`

Internal method to get the derivative of the left foot.

MatrixHomogeneous& sot::PatternGenerator::getdotRightFootRef	(	MatrixHomogeneous &	res,
		int	time
	)			`[protected]`

Internal method to get the derivative of the right foot.

MatrixHomogeneous& sot::PatternGenerator::getFlyingFootRef	(	MatrixHomogeneous &	res,
		int	time
	)			`[protected]`

Internal method to get the position of the flying foot.

ml::Vector& sot::PatternGenerator::getInitCoMRef	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the initial reference CoM at a given time.

MatrixHomogeneous& sot::PatternGenerator::getInitLeftFootRef	(	MatrixHomogeneous &	res,
		int	time
	)			`[protected]`

Internal method to get the position of the left foot.

MatrixHomogeneous& sot::PatternGenerator::getInitRightFootRef	(	MatrixHomogeneous &	res,
		int	time
	)			`[protected]`

Internal method to get the position of the right foot.

VectorRollPitchYaw& sot::PatternGenerator::getInitWaistAttRef	(	VectorRollPitchYaw &	res,
		int	time
	)			`[protected]`

Internal method to get the initial reference CoM at a given time.

ml::Vector& sot::PatternGenerator::getInitWaistPosRef	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the initial reference CoM at a given time.

ml::Vector& sot::PatternGenerator::getInitZMPRef	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the initial reference ZMP at a given time.

ml::Vector& sot::PatternGenerator::getjointWalkingErrorPosition	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the joint position for walking.

MatrixHomogeneous& sot::PatternGenerator::getLeftFootRef	(	MatrixHomogeneous &	res,
		int	time
	)			`[protected]`

Internal method to get the position of the left foot.

pg::PatternGeneratorInterface* sot::PatternGenerator::GetPatternGeneratorInterface ( ) [inline]

Give access directly to the pattern generator... You really have to know what your are doing.

MatrixHomogeneous& sot::PatternGenerator::getRightFootRef	(	MatrixHomogeneous &	res,
		int	time
	)			`[protected]`

Internal method to get the position of the right foot.

unsigned int& sot::PatternGenerator::getSupportFoot	(	unsigned int &	res,
		int	time
	)			`[protected]`

Getting the current support foot: 1 Left -1 Right.

VectorRollPitchYaw& sot::PatternGenerator::getWaistAttitude	(	VectorRollPitchYaw &	res,
		int	time
	)			`[protected]`

Internal method to get the attitude of the waist.

VectorRollPitchYaw& sot::PatternGenerator::getWaistAttitudeAbsolute	(	VectorRollPitchYaw &	res,
		int	time
	)			`[protected]`

Internal method to get the absolute attitude of the waist.

ml::Vector& sot::PatternGenerator::getWaistPosition	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the position of the waist.

ml::Vector& sot::PatternGenerator::getWaistPositionAbsolute	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the absolute position of the waist.

ml::Vector& sot::PatternGenerator::getZMPRef	(	ml::Vector &	res,
		int	time
	)			`[protected]`

Internal method to get the reference ZMP at a given time.

int& sot::PatternGenerator::InitOneStepOfControl	(	int &	dummy,
		int	time
	)			`[protected]`

Trigger the initialization of the algorithm.

bool sot::PatternGenerator::InitState ( void )

Initialize the state of the robot.

sot::PatternGenerator::MAL_VECTOR ( double ) [protected]

Storing the previous ZMP value.

int& sot::PatternGenerator::OneStepOfControl	(	int &	dummy,
		int	time
	)			`[protected]`

Trigger one step of the algorithm.

void sot::PatternGenerator::ParseCmdFile	(	std::istringstream &	cmdArg,
		std::ostream &	os
	)			`[protected]`

Parsing a file of command by the walking pattern generator interface.

[in] The command line (optional option)

[in]

void sot::PatternGenerator::setParamPreviewFile ( const std::string & filename )

Set the name of the file specifying the control parameters of the preview control.

void sot::PatternGenerator::setPreviewControlParametersFile ( const std::string & filename )

Set the directory which contains the parameters for the preview control.

void sot::PatternGenerator::setVrmlDirectory ( const std::string & filename )

Set the directory which contains the VRML files robot's model.

void sot::PatternGenerator::setVrmlMainFile ( const std::string & filename )

Set the name of the VRML file.

void sot::PatternGenerator::setXmlRankFile ( const std::string & filename )

Set the name of the file specifying the rank of the joints in the state vector.

void sot::PatternGenerator::setXmlSpecificitiesFile ( const std::string & filename )

Set the name of the file specifying a semantic to the joints. More precisely this file describes which joints are the hands, feet. For more information please see the documentation of walkGenJRL.

Member Data Documentation

const std::string sot::PatternGenerator::CLASS_NAME [static, protected]

The class name.

Class name

dg::SignalTimeDependent<VectorRollPitchYaw,int> sot::PatternGenerator::comattitudeSOUT

Externalize the com attitude.

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::CoMRefSOUT

Externalize the CoM reference.

dg::SignalPtr<ml::Vector,int> sot::PatternGenerator::comSIN

Take the current CoM.

dg::SignalTimeDependent<unsigned int,int> sot::PatternGenerator::dataInProcessSOUT

true iff PG is processing. Use it for synchronize.

dg::SignalTimeDependent<VectorRollPitchYaw,int> sot::PatternGenerator::dcomattitudeSOUT

Externalize the dcom attitude.

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::dCoMRefSOUT

Externalize the CoM reference.

dg::SignalTimeDependent<MatrixHomogeneous,int> sot::PatternGenerator::dotLeftFootRefSOUT

Externalize the left foot position reference.

dg::SignalTimeDependent<MatrixHomogeneous,int> sot::PatternGenerator::dotRightFootRefSOUT

Externalize the right foot position reference.

const int sot::PatternGenerator::EGOCENTERED_FRAME = 1 [static]

Specify that the frame is expressed in the robot ego centered frame.

dg::SignalTimeDependent<Dummy,int> sot::PatternGenerator::firstSINTERN

Internal signal for initialization and one shot signals.

dg::SignalTimeDependent<MatrixHomogeneous,int> sot::PatternGenerator::FlyingFootRefSOUT

Externalize the foot which is not considered as support foot, the information are given in a relative referentiel.

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::InitCoMRefSOUT

Externalize the initial CoM reference.

dg::SignalTimeDependent<MatrixHomogeneous,int> sot::PatternGenerator::InitLeftFootRefSOUT

Externalize the left foot position reference.

dg::SignalTimeDependent<MatrixHomogeneous,int> sot::PatternGenerator::InitRightFootRefSOUT

Externalize the right foot position reference.

dg::SignalTimeDependent<VectorRollPitchYaw,int> sot::PatternGenerator::InitWaistAttRefSOUT

Externalize the initial Waist reference.

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::InitWaistPosRefSOUT

Externalize the initial Waist reference.

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::InitZMPRefSOUT

Externalize the initial ZMP reference .

dg::SignalPtr<ml::Vector,int> sot::PatternGenerator::jointPositionSIN

Real state position values.

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::jointWalkingErrorPositionSOUT

Externalize the joint values for walking.

const int sot::PatternGenerator::LEFT_FOOT_CENTERED_FRAME = 2 [static]

Specify that the frame is expressed in the left foot centered frame.

dg::SignalPtr<MatrixHomogeneous,int> sot::PatternGenerator::LeftFootCurrentPosSIN

Take the current left foot homogeneous position.

dg::SignalTimeDependent<MatrixHomogeneous,int> sot::PatternGenerator::LeftFootRefSOUT

Externalize the left foot position reference.

double sot::PatternGenerator::m_AnkleSoilDistance [protected]

Distance between ankle and soil.

ml::Vector sot::PatternGenerator::m_ComAttitude [protected]

Com Attitude: does not really exist apart from when the robot is seen as an inverted pendulum.

ml::Vector sot::PatternGenerator::m_COMRefPos [protected]

Absolute position of the reference CoM.

unsigned int sot::PatternGenerator::m_dataInProcess [protected]

true iff the pattern if dealing with data, false if pg is not working anymore/yet.

ml::Vector sot::PatternGenerator::m_dComAttitude [protected]

Com Attitude: does not really exist apart when the robot is seen as an inverted pendulum.

ml::Vector sot::PatternGenerator::m_dCOMRefPos [protected]

Absolute position of the reference dCoM.

MatrixHomogeneous sot::PatternGenerator::m_dotLeftFootPosition [protected]

Absolute Derivate for the left and right feet.

MatrixHomogeneous sot::PatternGenerator::m_dotRightFootPosition [protected]

bool sot::PatternGenerator::m_DoubleSupportPhaseState [protected]

Double support phase detected.

int sot::PatternGenerator::m_DSStartingTime [protected]

MatrixHomogeneous sot::PatternGenerator::m_FlyingFootPosition [protected]

Relative Position of the flying foot.

bool sot::PatternGenerator::m_init [protected]

Boolean variable to initialize the object by loading an object.

ml::Vector sot::PatternGenerator::m_InitCOMRefPos [protected]

Initial Absolute position of the reference CoM.

MatrixHomogeneous sot::PatternGenerator::m_InitLeftFootPosition [protected]

Initial Absolute Starting Position for the left and right feet.

bool sot::PatternGenerator::m_InitPositionByRealState [protected]

Boolean variable to initialize the position: first through the real state of the robot, then through the motor command.

MatrixHomogeneous sot::PatternGenerator::m_InitRightFootPosition [protected]

ml::Vector sot::PatternGenerator::m_InitWaistRefAtt [protected]

ml::Vector sot::PatternGenerator::m_InitWaistRefPos [protected]

Initial Absolute position and attitude of the reference Waist.

ml::Vector sot::PatternGenerator::m_InitZMPRefPos [protected]

Initial Absolute position of the reference ZMP.

ml::Vector sot::PatternGenerator::m_JointErrorValuesForWalking [protected]

Joint values for walking.

MatrixHomogeneous sot::PatternGenerator::m_k_Waist_kp1 [protected]

Rigit motion between two waist positions at the beginning of the walking and at the end of the walking.

MatrixHomogeneous sot::PatternGenerator::m_LeftFootPosition [protected]

Absolute Position for the left and right feet.

unsigned int sot::PatternGenerator::m_LocalTime [protected]

iteration time.

MatrixHomogeneous sot::PatternGenerator::m_MotionSinceInstanciationToThisSequence [protected]

Keep track of the motion between sequence of motions.

pg::PatternGeneratorInterface* sot::PatternGenerator::m_PGI [protected]

Pointer towards the interface of the pattern generator.

std::string sot::PatternGenerator::m_PreviewControlParametersFile [protected]

Some information related to the preview control.

int sot::PatternGenerator::m_ReferenceFrame [protected]

Keep the frame reference.

MatrixHomogeneous sot::PatternGenerator::m_RightFootPosition [protected]

int sot::PatternGenerator::m_SupportFoot [protected]

Integer for the support foot.

double sot::PatternGenerator::m_TimeStep [protected]

Time step.

ml::Vector sot::PatternGenerator::m_VelocityReference [protected]

Velocity reference for Herdt's PG.

std::string sot::PatternGenerator::m_vrmlDirectory [protected]

Directory where the VRML file of the robot's model is located.

std::string sot::PatternGenerator::m_vrmlMainFile [protected]

Name of the VRML file which containes the robot's model.

ml::Vector sot::PatternGenerator::m_WaistAttitude [protected]

Waist Attitude.

ml::Vector sot::PatternGenerator::m_WaistAttitudeAbsolute [protected]

Waist Attitude Absolute.

ml::Vector sot::PatternGenerator::m_WaistPosition [protected]

Waist position.

ml::Vector sot::PatternGenerator::m_WaistPositionAbsolute [protected]

Waist position Absolute.

std::string sot::PatternGenerator::m_xmlRankFile [protected]

Name of the XML file which specificies the rank of the Joints in the state vector.

std::string sot::PatternGenerator::m_xmlSpecificitiesFile [protected]

Name of the XML file which contains humanoid specific informations.

ml::Vector sot::PatternGenerator::m_ZMPRefPos [protected]

Absolute position of the reference ZMP.

dg::SignalPtr<ml::Vector,int> sot::PatternGenerator::motorControlJointPositionSIN

Motor control joint position values.

dg::SignalTimeDependent<Dummy,int> sot::PatternGenerator::OneStepOfControlS

Internal signal to trigger one step of the algorithm.

dg::SignalPtr<MatrixHomogeneous,int> sot::PatternGenerator::RightFootCurrentPosSIN

Take the current right foot homogeneous position.

dg::SignalTimeDependent<MatrixHomogeneous,int> sot::PatternGenerator::RightFootRefSOUT

Externalize the right foot position reference.

dg::SignalTimeDependent<unsigned int,int> sot::PatternGenerator::SupportFootSOUT

Externalize the support foot.

dg::SignalPtr<ml::Vector,int> sot::PatternGenerator::velocitydesSIN

Take the current desired velocity.

const int sot::PatternGenerator::WAIST_CENTERED_FRAME = 3 [static]

Specify that the frame is expressed in the waist centered frame.

dg::SignalTimeDependent<VectorRollPitchYaw,int> sot::PatternGenerator::waistattitudeabsoluteSOUT

Externalize the absolute waist attitude.

dg::SignalTimeDependent<VectorRollPitchYaw,int> sot::PatternGenerator::waistattitudeSOUT

Externalize the waist attitude.

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::waistpositionabsoluteSOUT

Externalize the absolute waist position.

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::waistpositionSOUT

Externalize the waist position.

const int sot::PatternGenerator::WORLD_FRAME = 0 [static]

Specify that the frame is expressed in the world reference frame.

dg::SignalPtr<ml::Vector,int> sot::PatternGenerator::ZMPPreviousControllerSIN

Previous ZMP value (ZMP send by the preceding controller).

dg::SignalTimeDependent<ml::Vector,int> sot::PatternGenerator::ZMPRefSOUT

Externalize the ZMP reference .

sot::PatternGenerator Class Reference

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

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