Foot step planner for the pace gait of quadrupeds. More...

#include <pace_foot_step_planner.hpp>

Inheritance diagram for robotoc::PaceFootStepPlanner:

Collaboration diagram for robotoc::PaceFootStepPlanner:

Public Member Functions
	PaceFootStepPlanner (const Robot &quadruped_robot)
	Constructs the planner. More...

	PaceFootStepPlanner ()
	Default constructor. More...

	~PaceFootStepPlanner ()
	Destructor. More...

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

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

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

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

void	setGaitPattern (const Eigen::Vector3d &step_length, const double step_yaw, const bool enable_stance_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 stance_time, const double gain)
	Sets the gait pattern by Raibert heuristic. 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
	This is invalid in PaceFootStepPlanner. 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 PaceFootStepPlanner &planner)

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

Detailed Description

Foot step planner for the pace gait of quadrupeds.

Constructor & Destructor Documentation

◆ PaceFootStepPlanner() [1/4]

robotoc::PaceFootStepPlanner::PaceFootStepPlanner ( const Robot & quadruped_robot )

Constructs the planner.

Parameters

[in] quadruped_robot Quadruped robot model.

◆ PaceFootStepPlanner() [2/4]

robotoc::PaceFootStepPlanner::PaceFootStepPlanner ( )

Default constructor.

◆ ~PaceFootStepPlanner()

robotoc::PaceFootStepPlanner::~PaceFootStepPlanner ( )

Destructor.

◆ PaceFootStepPlanner() [3/4]

robotoc::PaceFootStepPlanner::PaceFootStepPlanner ( const PaceFootStepPlanner & )

default

Default copy constructor.

◆ PaceFootStepPlanner() [4/4]

robotoc::PaceFootStepPlanner::PaceFootStepPlanner ( PaceFootStepPlanner && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ CoM()

const Eigen::Vector3d & robotoc::PaceFootStepPlanner::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::PaceFootStepPlanner::contactPlacements ( const int step ) const

overridevirtual

This is invalid in PaceFootStepPlanner.

Implements robotoc::ContactPlannerBase.

◆ contactPositions()

const std::vector< Eigen::Vector3d > & robotoc::PaceFootStepPlanner::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::PaceFootStepPlanner::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::PaceFootStepPlanner::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]

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

default

Default copy assign operator.

◆ operator=() [2/2]

PaceFootStepPlanner & robotoc::PaceFootStepPlanner::operator= ( PaceFootStepPlanner && )

defaultnoexcept

Default move assign operator.

◆ plan()

bool robotoc::PaceFootStepPlanner::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::PaceFootStepPlanner::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::PaceFootStepPlanner::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::PaceFootStepPlanner::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.

◆ setGaitPattern()

void robotoc::PaceFootStepPlanner::setGaitPattern	(	const Eigen::Vector3d &	step_length,
		const double	step_yaw,
		const bool	enable_stance_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_stance_phase	Enables the stance phase or not.

◆ setRaibertGaitPattern()

void robotoc::PaceFootStepPlanner::setRaibertGaitPattern	(	const Eigen::Vector3d &	vcom_cmd,
		const double	yaw_rate_cmd,
		const double	swing_time,
		const double	stance_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]	stance_time	Stance time of the gait.
[in]	gain	The feedback gain of the vcom_cmd.

◆ size()

int robotoc::PaceFootStepPlanner::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 PaceFootStepPlanner &	planner
	)

friend

◆ operator<< [2/2]

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

friend

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

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

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ PaceFootStepPlanner() [1/4]

◆ PaceFootStepPlanner() [2/4]

◆ ~PaceFootStepPlanner()

◆ PaceFootStepPlanner() [3/4]

◆ PaceFootStepPlanner() [4/4]

Member Function Documentation

◆ CoM()

◆ contactPlacements()

◆ contactPositions()

◆ contactSurfaces()

◆ init()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ plan()

◆ R()

◆ setContactSurfaces() [1/2]

◆ setContactSurfaces() [2/2]

◆ setGaitPattern()

◆ setRaibertGaitPattern()

◆ size()

Friends And Related Function Documentation

◆ operator<< [1/2]

◆ operator<< [2/2]