GaitedFootsteps Class Reference

#include <GaitedFootsteps.h>

---

Detailed Description

Definition at line 28 of file GaitedFootsteps.h.

List of all members.

Classes
struct	State
struct	StepData
Public Member Functions
	GaitedFootsteps ()
	~GaitedFootsteps ()
bool	validate (const State &st) const
	returns true if the state does not collide with any obstacles
float	heuristic (const State &st, const State &goal) const
	The heuristic function accepts the current state, and goal state, and should return an admissable (aka optimistic) estimate of the remaining cost.
const std::vector< std::pair < float, GaitedFootsteps::State > > &	expand (const State *parent, const State &st, const State &goal) const
	Generates a vector of successor states, paired with the cost to get to that state from st.
void	setGait (const KinematicJoint &kj, const XWalkParameters &xp, size_t discretization)
void	addObstacle (PlannerObstacle2D *obs)
std::vector< PlannerObstacle2D * > &	getObstacles ()
const std::vector < PlannerObstacle2D * > &	getObstacles () const
PlannerObstacle2D *	checkObstacles (const fmat::Column< 2 > &pt) const
bool	addRotation (const State &st, float strideAngle, float strideDist, const fmat::Column< 2 > &strideDir, const fmat::Column< 2 > &stride, std::vector< std::pair< float, GaitedFootsteps::State > > &candidates, float maxDist) const
void	addCandidate (const State *parent, const State &st, float angle, std::vector< std::pair< float, GaitedFootsteps::State > > &candidates, float maxDist=0) const
Public Attributes
float	speed
float	flightDuration
float	stepDuration
float	relaxation
float	rotDist
bool	stepReorient
bool	stepRehab
KinematicJoint *	kinematics
KinematicJoint *	childMap [NumReferenceFrames]
size_t	ncand
XWalkParameters	p
fmat::Column< 3 >	ground
fmat::Column< 3 >	gravity
std::vector< fmat::Column< 2 > >	neutrals
std::vector< std::set< size_t > >	groups
std::vector< PlannerObstacle2D * >	obstacles
Private Member Functions
	GaitedFootsteps (const GaitedFootsteps &)
	do not use
GaitedFootsteps &	operator= (const GaitedFootsteps &)
	do not use

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Constructor & Destructor Documentation

GaitedFootsteps::GaitedFootsteps

(

)

Definition at line 30 of file GaitedFootsteps.h.

GaitedFootsteps::~GaitedFootsteps

(

)

Definition at line 14 of file GaitedFootsteps.cc.

GaitedFootsteps::GaitedFootsteps

(

const GaitedFootsteps &

)

[private]

do not use

---

Member Function Documentation

void GaitedFootsteps::addCandidate	(	const State *	parent,
		const State &	st,
		float	angle,
		std::vector< std::pair< float, GaitedFootsteps::State > > &	candidates,
		float	maxDist = 0
	)			const

Definition at line 191 of file GaitedFootsteps.cc.

Referenced by expand().

void GaitedFootsteps::addObstacle

(

PlannerObstacle2D *

obs

)

Definition at line 96 of file GaitedFootsteps.h.

bool GaitedFootsteps::addRotation	(	const State &	st,
		float	strideAngle,
		float	strideDist,
		const fmat::Column< 2 > &	strideDir,
		const fmat::Column< 2 > &	stride,
		std::vector< std::pair< float, GaitedFootsteps::State > > &	candidates,
		float	maxDist
	)			const

Definition at line 117 of file GaitedFootsteps.cc.

Referenced by addCandidate().

PlannerObstacle2D * GaitedFootsteps::checkObstacles

(

const fmat::Column< 2 > &

pt

)

const

Definition at line 106 of file GaitedFootsteps.cc.

Referenced by addCandidate(), and addRotation().

const std::vector< std::pair< float, GaitedFootsteps::State > > & GaitedFootsteps::expand	(	const State *	parent,
		const State &	st,
		const State &	goal
	)			const

Generates a vector of successor states, paired with the cost to get to that state from st.

Note that this implementation returns a reference to a static instance, which is not thread safe but slightly faster

Note that this implementation returns a reference to a static instance, which is not thread safe but slightly faster.

for each leg which can be lifted: expand each step position for that leg body motion: stance motion before lift and during flight?

Definition at line 49 of file GaitedFootsteps.cc.

const std::vector< PlannerObstacle2D* >& GaitedFootsteps::getObstacles

(

)

const

Definition at line 98 of file GaitedFootsteps.h.

std::vector< PlannerObstacle2D* >& GaitedFootsteps::getObstacles

(

)

Definition at line 97 of file GaitedFootsteps.h.

float GaitedFootsteps::heuristic	(	const State &	st,
		const State &	goal
	)			const

The heuristic function accepts the current state, and goal state, and should return an admissable (aka optimistic) estimate of the remaining cost.

Definition at line 22 of file GaitedFootsteps.cc.

GaitedFootsteps& GaitedFootsteps::operator=

(

const GaitedFootsteps &

)

[private]

do not use

void GaitedFootsteps::setGait	(	const KinematicJoint &	kj,
		const XWalkParameters &	xp,
		size_t	discretization
	)

Definition at line 278 of file GaitedFootsteps.cc.

bool GaitedFootsteps::validate

(

const State &

st

)

const

returns true if the state does not collide with any obstacles

Definition at line 29 of file GaitedFootsteps.cc.

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Member Data Documentation

KinematicJoint* GaitedFootsteps::childMap[NumReferenceFrames]

Definition at line 110 of file GaitedFootsteps.h.

Referenced by addCandidate(), addRotation(), expand(), and setGait().

float GaitedFootsteps::flightDuration

Definition at line 101 of file GaitedFootsteps.h.

Referenced by addCandidate(), addRotation(), heuristic(), and setGait().

fmat::Column<3> GaitedFootsteps::gravity

Definition at line 123 of file GaitedFootsteps.h.

Referenced by addCandidate(), addRotation(), expand(), and setGait().

fmat::Column<3> GaitedFootsteps::ground

Definition at line 122 of file GaitedFootsteps.h.

Referenced by addCandidate(), addRotation(), expand(), and setGait().

std::vector< std::set<size_t> > GaitedFootsteps::groups

Definition at line 125 of file GaitedFootsteps.h.

Referenced by addCandidate(), addRotation(), expand(), and setGait().

KinematicJoint* GaitedFootsteps::kinematics

Definition at line 109 of file GaitedFootsteps.h.

Referenced by expand(), setGait(), and ~GaitedFootsteps().

size_t GaitedFootsteps::ncand

Definition at line 120 of file GaitedFootsteps.h.

Referenced by expand(), and setGait().

std::vector< fmat::Column<2> > GaitedFootsteps::neutrals

Definition at line 124 of file GaitedFootsteps.h.

Referenced by addCandidate(), addRotation(), and setGait().

std::vector< PlannerObstacle2D* > GaitedFootsteps::obstacles

Definition at line 126 of file GaitedFootsteps.h.

Referenced by addObstacle(), checkObstacles(), getObstacles(), and ~GaitedFootsteps().

XWalkParameters GaitedFootsteps::p

Definition at line 121 of file GaitedFootsteps.h.

Referenced by addCandidate(), addRotation(), expand(), heuristic(), and setGait().

float GaitedFootsteps::relaxation

Definition at line 103 of file GaitedFootsteps.h.

Referenced by heuristic().

float GaitedFootsteps::rotDist

Definition at line 104 of file GaitedFootsteps.h.

Referenced by addRotation(), and setGait().

float GaitedFootsteps::speed

Definition at line 100 of file GaitedFootsteps.h.

Referenced by addCandidate(), addRotation(), and heuristic().

float GaitedFootsteps::stepDuration

Definition at line 102 of file GaitedFootsteps.h.

bool GaitedFootsteps::stepRehab

Definition at line 107 of file GaitedFootsteps.h.

Referenced by addCandidate(), and addRotation().

bool GaitedFootsteps::stepReorient

Definition at line 106 of file GaitedFootsteps.h.

Referenced by expand().

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

• GaitedFootsteps.h
• GaitedFootsteps.cc