Foot step planner for the biped robot walk. More...

#include <biped_walk_foot_step_planner.hpp>

Inheritance diagram for robotoc::BipedWalkFootStepPlanner:

Collaboration diagram for robotoc::BipedWalkFootStepPlanner:

Public Member Functions
	BipedWalkFootStepPlanner (const Robot &biped_robot)
	Constructs the planner. More...

	BipedWalkFootStepPlanner ()
	Default constructor. More...

	~BipedWalkFootStepPlanner ()
	Destructor. More...

	BipedWalkFootStepPlanner (const BipedWalkFootStepPlanner &)=default
	Default copy constructor. More...

BipedWalkFootStepPlanner &	operator= (const BipedWalkFootStepPlanner &)=default
	Default copy assign operator. More...

	BipedWalkFootStepPlanner (BipedWalkFootStepPlanner &&) noexcept=default
	Default move constructor. More...

BipedWalkFootStepPlanner &	operator= (BipedWalkFootStepPlanner &&) noexcept=default
	Default move assign operator. More...

void	setGaitPattern (const Eigen::Vector3d &step_length, const double step_yaw, const bool enable_double_support_phase)
	Sets the gait pattern by step length and yaw step command. More...

void	setRaibertGaitPattern (const Eigen::Vector3d &vcom_cmd, const double yaw_rate_cmd, const double swing_time, const double double_support_time, const double gain)
	Sets the gait pattern by Raibert heuristic. More...

void	init (const Eigen::VectorXd &q) override
	Initializes the planner. More...

bool	plan (const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const ContactStatus &contact_status, const int planning_steps) override
	Plans the foot steps in the MPC (receding-horizon) fashion. More...

const aligned_vector< SE3 > &	contactPlacements (const int step) const override
	Gets the contact placements of a specified step. More...

const std::vector< Eigen::Vector3d > &	contactPositions (const int step) const override
	This is invalid in BipedWalkFootStepPlanner. More...

const std::vector< Eigen::Matrix3d > &	contactSurfaces (const int step) const override
	This is invalid in BipedWalkFootStepPlanner. More...

const Eigen::Vector3d &	CoM (const int step) const override
	Gets the CoM position of a specified step. More...

const Eigen::Matrix3d &	R (const int step) const override
	Gets the rotation matrix of the base at a specified step. More...

int	size () const override
	Gets the size of each planned quantities. More...

Public Member Functions inherited from robotoc::ContactPlannerBase
	ContactPlannerBase ()
	Default constructor. More...

virtual	~ContactPlannerBase ()
	Destructor. More...

	ContactPlannerBase (const ContactPlannerBase &)=default
	Default copy constructor. More...

ContactPlannerBase &	operator= (const ContactPlannerBase &)=default
	Default copy assign operator. More...

	ContactPlannerBase (ContactPlannerBase &&) noexcept=default
	Default move constructor. More...

ContactPlannerBase &	operator= (ContactPlannerBase &&) noexcept=default
	Default move assign operator. More...

virtual void	init (const Eigen::VectorXd &q)=0
	Initializes the planner. More...

virtual bool	plan (const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const ContactStatus &contact_status, const int planning_steps)=0
	Plans the foot steps in the MPC (receding-horizon) fashion. More...

virtual const aligned_vector< SE3 > &	contactPlacements (const int step) const =0
	Gets the contact placements of a specified step. More...

virtual const std::vector< Eigen::Vector3d > &	contactPositions (const int step) const =0
	Gets the contact positions of a specified step. More...

virtual const std::vector< Eigen::Matrix3d > &	contactSurfaces (const int step) const =0
	Gets the contact surfaces of a specified step. More...

virtual const Eigen::Vector3d &	CoM (const int step) const =0
	Gets the CoM position of a specified step. More...

virtual const Eigen::Matrix3d &	R (const int step) const =0
	Gets the rotation matrix of the base at a specified step. More...

virtual int	size () const =0
	Gets the size of each planned quantities. More...

void	disp (std::ostream &os) const

Friends
std::ostream &	operator<< (std::ostream &os, const BipedWalkFootStepPlanner &planner)

std::ostream &	operator<< (std::ostream &os, const std::shared_ptr< BipedWalkFootStepPlanner > &planner)

Detailed Description

Foot step planner for the biped robot walk.

Constructor & Destructor Documentation

◆ BipedWalkFootStepPlanner() [1/4]

robotoc::BipedWalkFootStepPlanner::BipedWalkFootStepPlanner ( const Robot & biped_robot )

Constructs the planner.

Parameters

[in] biped_robot Biped robot model.

◆ BipedWalkFootStepPlanner() [2/4]

robotoc::BipedWalkFootStepPlanner::BipedWalkFootStepPlanner ( )

Default constructor.

◆ ~BipedWalkFootStepPlanner()

robotoc::BipedWalkFootStepPlanner::~BipedWalkFootStepPlanner ( )

Destructor.

◆ BipedWalkFootStepPlanner() [3/4]

robotoc::BipedWalkFootStepPlanner::BipedWalkFootStepPlanner ( const BipedWalkFootStepPlanner & )

default

Default copy constructor.

◆ BipedWalkFootStepPlanner() [4/4]

robotoc::BipedWalkFootStepPlanner::BipedWalkFootStepPlanner ( BipedWalkFootStepPlanner && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ CoM()

const Eigen::Vector3d & robotoc::BipedWalkFootStepPlanner::CoM ( const int step ) const

overridevirtual

Gets the CoM position of a specified step.

Parameters

[in] step Step of interest.

Returns: const reference to CoM position of a specified step.

Remarks: step=0: previous step, step=1: initial step.

Implements robotoc::ContactPlannerBase.

◆ contactPlacements()

const aligned_vector< SE3 > & robotoc::BipedWalkFootStepPlanner::contactPlacements ( const int step ) const

overridevirtual

Gets the contact placements of a specified step.

Parameters

[in] step Step of interest.

Returns: const reference to the contact placements of a specified step.

Remarks: step=0: previous step, step=1: initial step.

Implements robotoc::ContactPlannerBase.

◆ contactPositions()

const std::vector< Eigen::Vector3d > & robotoc::BipedWalkFootStepPlanner::contactPositions ( const int step ) const

overridevirtual

This is invalid in BipedWalkFootStepPlanner.

Implements robotoc::ContactPlannerBase.

◆ contactSurfaces()

const std::vector< Eigen::Matrix3d > & robotoc::BipedWalkFootStepPlanner::contactSurfaces ( const int step ) const

overridevirtual

This is invalid in BipedWalkFootStepPlanner.

Implements robotoc::ContactPlannerBase.

◆ init()

void robotoc::BipedWalkFootStepPlanner::init ( const Eigen::VectorXd & q )

overridevirtual

Initializes the planner.

Parameters

[in] q Initial configuration. Size must be Robot::dimq().

Implements robotoc::ContactPlannerBase.

◆ operator=() [1/2]

BipedWalkFootStepPlanner & robotoc::BipedWalkFootStepPlanner::operator= ( BipedWalkFootStepPlanner && )

defaultnoexcept

Default move assign operator.

◆ operator=() [2/2]

BipedWalkFootStepPlanner & robotoc::BipedWalkFootStepPlanner::operator= ( const BipedWalkFootStepPlanner & )

default

Default copy assign operator.

◆ plan()

bool robotoc::BipedWalkFootStepPlanner::plan	(	const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const ContactStatus &	contact_status,
		const int	planning_steps
	)

overridevirtual

Plans the foot steps in the MPC (receding-horizon) fashion.

Parameters

[in]	t	Initial time.
[in]	q	Initial configuration. Size must be Robot::dimq().
[in]	v	Initial velocity. Size must be Robot::dimv().
[in]	contact_status	Initial contact status.
[in]	planning_steps	Number of planning steps. Must be non-negative.

Returns: True if the planning is succeeded. False if not.

Remarks: The linear and angular velocities of the floating base are assumed to be expressed in the body local coordinate.; The implementation must follow: step=0: previous step, step=1: initial step (specified as q and contact_status).

Implements robotoc::ContactPlannerBase.

◆ R()

const Eigen::Matrix3d & robotoc::BipedWalkFootStepPlanner::R ( const int step ) const

overridevirtual

Gets the rotation matrix of the base at a specified step.

Parameters

[in] step Step of interest.

Returns: const reference to rotation matrix of the base at a specified step.

Remarks: step=0: previous step, step=1: initial step.

Implements robotoc::ContactPlannerBase.

◆ setGaitPattern()

void robotoc::BipedWalkFootStepPlanner::setGaitPattern	(	const Eigen::Vector3d &	step_length,
		const double	step_yaw,
		const bool	enable_double_support_phase
	)

Sets the gait pattern by step length and yaw step command.

Parameters

[in]	step_length	Step length of the gait.
[in]	step_yaw	Yaw command at each step of the gait.
[in]	enable_double_support_phase	Enables the double-support phase or not.

◆ setRaibertGaitPattern()

void robotoc::BipedWalkFootStepPlanner::setRaibertGaitPattern	(	const Eigen::Vector3d &	vcom_cmd,
		const double	yaw_rate_cmd,
		const double	swing_time,
		const double	double_support_time,
		const double	gain
	)

Sets the gait pattern by Raibert heuristic.

Parameters

[in]	vcom_cmd	Command of the COM velocity.
[in]	yaw_rate_cmd	Command of the yaw-rate of the body.
[in]	swing_time	Swing time of the gait.
[in]	double_support_time	Double support time of the gait.
[in]	gain	The feedback gain of the vcom_cmd.

◆ size()

int robotoc::BipedWalkFootStepPlanner::size ( ) const

inlineoverridevirtual

Gets the size of each planned quantities.

Returns: Size of planning.

Implements robotoc::ContactPlannerBase.

Friends And Related Function Documentation

◆ operator<< [1/2]

std::ostream & operator<<	(	std::ostream &	os,
		const BipedWalkFootStepPlanner &	planner
	)

friend

◆ operator<< [2/2]

std::ostream & operator<<	(	std::ostream &	os,
		const std::shared_ptr< BipedWalkFootStepPlanner > &	planner
	)

friend

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

/github/workspace/include/robotoc/mpc/biped_walk_foot_step_planner.hpp

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ BipedWalkFootStepPlanner() [1/4]

◆ BipedWalkFootStepPlanner() [2/4]

◆ ~BipedWalkFootStepPlanner()

◆ BipedWalkFootStepPlanner() [3/4]

◆ BipedWalkFootStepPlanner() [4/4]

Member Function Documentation

◆ CoM()

◆ contactPlacements()

◆ contactPositions()

◆ contactSurfaces()

◆ init()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ plan()

◆ R()

◆ setGaitPattern()

◆ setRaibertGaitPattern()

◆ size()

Friends And Related Function Documentation

◆ operator<< [1/2]

◆ operator<< [2/2]