robotoc::TrotSwingFootRef Class Reference

Periodic reference of the foot position. More...

#include <trot_swing_foot_ref.hpp>

Inheritance diagram for robotoc::TrotSwingFootRef:

Collaboration diagram for robotoc::TrotSwingFootRef:

Public Member Functions
	TrotSwingFootRef (const int contact_index, const int x_ref_foot_contact_index, const int y_ref_foot_contact_index, const double step_length, const double step_height)
	Constructor. More...
	TrotSwingFootRef (const Robot &robot, const std::string &contact_frame_name, const int x_ref_foot_contact_index, const int y_ref_foot_contact_index, const double step_length, const double step_height)
	Constructor. More...
	~TrotSwingFootRef ()
	Destructor. More...
void	updateRef (const ContactStatus &contact_status, Eigen::VectorXd &x3d_ref) const override

Detailed Description

Periodic reference of the foot position.

Constructor & Destructor Documentation

TrotSwingFootRef() [1/2]

robotoc::TrotSwingFootRef::TrotSwingFootRef	(	const int	contact_index,
		const int	x_ref_foot_contact_index,
		const int	y_ref_foot_contact_index,
		const double	step_length,
		const double	step_height
	)

Constructor.

Parameters

[in]	contact_index	Contact index of interest
[in]	x_ref_foot_contact_index	Contact index of another foot that gives the reference x coordinate.
[in]	y_ref_foot_contact_index	Contact index of another foot that gives the reference y coordinate.
[in]	step_length	The step length of the gait.
[in]	step_height	The step height of the gait.

TrotSwingFootRef() [2/2]

robotoc::TrotSwingFootRef::TrotSwingFootRef	(	const Robot &	robot,
		const std::string &	contact_frame_name,
		const int	x_ref_foot_contact_index,
		const int	y_ref_foot_contact_index,
		const double	step_length,
		const double	step_height
	)

Constructor.

Parameters

[in]	robot	Robot model.
[in]	contact_frame_name	Name of the contact frame of interest
[in]	x_ref_foot_contact_index	Contact index of another foot that gives the reference x coordinate.
[in]	y_ref_foot_contact_index	Contact index of another foot that gives the reference y coordinate.
[in]	step_length	The step length of the gait.
[in]	step_height	The step height of the gait.

~TrotSwingFootRef()

robotoc::TrotSwingFootRef::~TrotSwingFootRef

(

)

Destructor.

Member Function Documentation

updateRef()

void robotoc::TrotSwingFootRef::updateRef ( const ContactStatus &  contact_status, Eigen::VectorXd &  x3d_ref  ) const

override

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

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