Foot step planner for the jump motion. More...

#include <jump_foot_step_planner.hpp>

Inheritance diagram for robotoc::JumpFootStepPlanner:

Collaboration diagram for robotoc::JumpFootStepPlanner:

Public Member Functions
	JumpFootStepPlanner (const Robot &robot)
	Constructs the planner. More...

	JumpFootStepPlanner ()
	Default constructor. More...

	~JumpFootStepPlanner ()
	Destructor. More...

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

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

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

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

void	setJumpPattern (const Eigen::Vector3d &jump_length, const double jump_yaw)
	Sets the gait pattern. More...

void	setContactSurfaces (const std::vector< Eigen::Matrix3d > &contact_surfaces)
	Sets the rotation of the contact surfaces. More...

void	setContactSurfaces (const std::vector< std::vector< Eigen::Matrix3d > > &contact_surfaces)
	Sets the rotation of the contact surfaces over the mutiple steps. 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
	Gets the contact positions of a specified step. More...

const std::vector< Eigen::Matrix3d > &	contactSurfaces (const int step) const override
	Gets the contact surfaces of a specified step. 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 JumpFootStepPlanner &planner)

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

Detailed Description

Foot step planner for the jump motion.

Constructor & Destructor Documentation

◆ JumpFootStepPlanner() [1/4]

robotoc::JumpFootStepPlanner::JumpFootStepPlanner ( const Robot & robot )

Constructs the planner.

Parameters

[in] robot Robot model.

◆ JumpFootStepPlanner() [2/4]

robotoc::JumpFootStepPlanner::JumpFootStepPlanner ( )

Default constructor.

◆ ~JumpFootStepPlanner()

robotoc::JumpFootStepPlanner::~JumpFootStepPlanner ( )

Destructor.

◆ JumpFootStepPlanner() [3/4]

robotoc::JumpFootStepPlanner::JumpFootStepPlanner ( const JumpFootStepPlanner & )

default

Default copy constructor.

◆ JumpFootStepPlanner() [4/4]

robotoc::JumpFootStepPlanner::JumpFootStepPlanner ( JumpFootStepPlanner && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ CoM()

const Eigen::Vector3d & robotoc::JumpFootStepPlanner::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::JumpFootStepPlanner::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::JumpFootStepPlanner::contactPositions ( const int step ) const

overridevirtual

Gets the contact positions of a specified step.

Parameters

[in] step Step of interest.

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

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

Implements robotoc::ContactPlannerBase.

◆ contactSurfaces()

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

overridevirtual

Gets the contact surfaces of a specified step.

Parameters

[in] step Step of interest.

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

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

Implements robotoc::ContactPlannerBase.

◆ init()

void robotoc::JumpFootStepPlanner::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]

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

default

Default copy assign operator.

◆ operator=() [2/2]

JumpFootStepPlanner & robotoc::JumpFootStepPlanner::operator= ( JumpFootStepPlanner && )

defaultnoexcept

Default move assign operator.

◆ plan()

bool robotoc::JumpFootStepPlanner::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::JumpFootStepPlanner::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.

◆ setContactSurfaces() [1/2]

void robotoc::JumpFootStepPlanner::setContactSurfaces ( const std::vector< Eigen::Matrix3d > & contact_surfaces )

Sets the rotation of the contact surfaces.

Parameters

[in] contact_surfaces Rotation of the contact surfaces.

◆ setContactSurfaces() [2/2]

void robotoc::JumpFootStepPlanner::setContactSurfaces ( const std::vector< std::vector< Eigen::Matrix3d > > & contact_surfaces )

Sets the rotation of the contact surfaces over the mutiple steps.

Parameters

[in] contact_surfaces Rotation of the contact surfaces.

◆ setJumpPattern()

void robotoc::JumpFootStepPlanner::setJumpPattern	(	const Eigen::Vector3d &	jump_length,
		const double	jump_yaw
	)

Sets the gait pattern.

Parameters

[in]	jump_length	Jump length.
[in]	jump_yaw	Change in the yaw angle of the jump.

◆ size()

int robotoc::JumpFootStepPlanner::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 JumpFootStepPlanner &	planner
	)

friend

◆ operator<< [2/2]

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

friend

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

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

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ JumpFootStepPlanner() [1/4]

◆ JumpFootStepPlanner() [2/4]

◆ ~JumpFootStepPlanner()

◆ JumpFootStepPlanner() [3/4]

◆ JumpFootStepPlanner() [4/4]

Member Function Documentation

◆ CoM()

◆ contactPlacements()

◆ contactPositions()

◆ contactSurfaces()

◆ init()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ plan()

◆ R()

◆ setContactSurfaces() [1/2]

◆ setContactSurfaces() [2/2]

◆ setJumpPattern()

◆ size()

Friends And Related Function Documentation

◆ operator<< [1/2]

◆ operator<< [2/2]