robotoc::PeriodicSwingFootRef Class Reference

Periodic reference of the swing foot position. More...

#include <periodic_swing_foot_ref.hpp>

Inheritance diagram for robotoc::PeriodicSwingFootRef:

Collaboration diagram for robotoc::PeriodicSwingFootRef:

Public Member Functions
	PeriodicSwingFootRef (const Eigen::Vector3d &x3d0, const Eigen::Vector3d &step_length, const double step_height, const double t0, const double period_swing, const double period_stance, const bool is_first_step_half)
	Constructor. More...
	~PeriodicSwingFootRef ()
	Destructor. More...
void	setFootTrackRef (const Eigen::Vector3d &x3d0, const Eigen::Vector3d &step_length, const double step_height, const double t0, const double period_swing, const double period_stance, const bool is_first_step_half=false)
	Sets parameters. More...
void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &x3d_ref) const override
	Computes the reference task-space position. More...
bool	isActive (const GridInfo &grid_info) const override
	Checks wheather the cost is active or not at the specified time. More...
Public Member Functions inherited from robotoc::TaskSpace3DRefBase
	TaskSpace3DRefBase ()
	Default constructor. More...
virtual	~TaskSpace3DRefBase ()
	Destructor. More...
	TaskSpace3DRefBase (const TaskSpace3DRefBase &)=default
	Default copy constructor. More...
TaskSpace3DRefBase &	operator= (const TaskSpace3DRefBase &)=default
	Default copy operator. More...
	TaskSpace3DRefBase (TaskSpace3DRefBase &&) noexcept=default
	Default move constructor. More...
TaskSpace3DRefBase &	operator= (TaskSpace3DRefBase &&) noexcept=default
	Default move assign operator. More...
virtual void	updateRef (const GridInfo &grid_info, Eigen::VectorXd &ref_3d) const =0
	Computes the reference task-space position. More...
virtual bool	isActive (const GridInfo &grid_info) const =0
	Checks wheather the cost is active or not at the specified time. More...

Detailed Description

Periodic reference of the swing foot position.

Constructor & Destructor Documentation

PeriodicSwingFootRef()

robotoc::PeriodicSwingFootRef::PeriodicSwingFootRef	(	const Eigen::Vector3d &	x3d0,
		const Eigen::Vector3d &	step_length,
		const double	step_height,
		const double	t0,
		const double	period_swing,
		const double	period_stance,
		const bool	is_first_step_half
	)

Constructor.

Parameters

[in]	x3d0	Initial foot position reference.
[in]	step_length	The step length of the gait.
[in]	step_height	The step height of the gait.
[in]	t0	Start time of the reference tracking.
[in]	period_swing	Period where the foot is swinging.
[in]	period_stance	Period where the foot is stancing.
[in]	is_first_step_half	If true, the length ofh te first reference foot step is half.

~PeriodicSwingFootRef()

robotoc::PeriodicSwingFootRef::~PeriodicSwingFootRef

(

)

Destructor.

Member Function Documentation

isActive()

bool robotoc::PeriodicSwingFootRef::isActive ( const GridInfo &  grid_info ) const

overridevirtual

Checks wheather the cost is active or not at the specified time.

Parameters

[in]

grid_info

Grid info.

Returns

true if the cost is active at time t. false if not.

Implements robotoc::TaskSpace3DRefBase.

setFootTrackRef()

void robotoc::PeriodicSwingFootRef::setFootTrackRef	(	const Eigen::Vector3d &	x3d0,
		const Eigen::Vector3d &	step_length,
		const double	step_height,
		const double	t0,
		const double	period_swing,
		const double	period_stance,
		const bool	is_first_step_half = false
	)

Sets parameters.

Parameters

[in]	x3d0	Initial foot position reference.
[in]	step_length	The step length of the gait.
[in]	step_height	The step height of the gait.
[in]	t0	Start time of the reference tracking.
[in]	period_swing	Period where the foot is swinging.
[in]	period_stance	Period where the foot is stancing.
[in]	is_first_step_half	If true, the length ofh te first reference foot step is half. Default is false.

updateRef()

void robotoc::PeriodicSwingFootRef::updateRef ( const GridInfo &  grid_info, Eigen::VectorXd &  ref_3d  ) const

overridevirtual

Computes the reference task-space position.

Parameters

[in]	grid_info	Grid info.
[in]	ref_3d	Reference position. Size is 3.

Implements robotoc::TaskSpace3DRefBase.

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

• /github/workspace/include/robotoc/cost/periodic_swing_foot_ref.hpp