PatternGeneratorJRL Namespace Reference

Classes
class	PatternGeneratorInterface
	This class is the interface between the Pattern Generator and the external world. More...
struct	COMPosition_s
	Structure to store the COM position computed by the preview control. More...
struct	COMState_s
	Structure to store the COM state computed by the preview control. More...
struct	RelativeFootPosition_s
	Structure to store each foot position when the user is specifying a sequence of relative positions. More...
struct	ZMPPosition_s
	Structure to store each of the ZMP value, with a given direction at a certain time. More...
struct	FootAbsolutePosition_t
	Structure to store the absolute foot position. More...
struct	LinearConstraintInequality_s
struct	LinearConstraintInequalityFreeFeet_s
	Linear constraints with variable feet placement. More...
struct	SupportFeet_s
struct	ReferenceAbsoluteVelocity_t
	Structure to store the absolute reference. More...
class	AnalyticalZMPCOGTrajectory
struct	ltCH_Point
struct	CH_Point
class	ComputeConvexHull
class	FootConstraintsAsLinearSystem
class	FootConstraintsAsLinearSystemForVelRef
class	FootHalfSize
class	Polynome
	Class for computing trajectories. More...
class	Polynome3
	Polynome used for X,Y and Theta trajectories. More...
class	Polynome4
	Polynome used for Z trajectory. More...
class	Polynome5
	Polynome used for X,Y and Theta trajectories. More...
class	Polynome6
	Polynome used for Z trajectory. More...
class	StepOverPolynomeFoot
	Polynome used for Z trajectory during stepover. More...
class	StepOverPolynomeFootZtoX
	Polynome used for Z trajectory during stepover. More...
class	StepOverPolynomeFootXtoTime
	Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX. More...
class	StepOverPolynomeHip4
	Polynome for the hip trajectory. More...
class	StepOverSpline
	spline function calculation class to calculate cubic splines More...
class	StepOverClampedCubicSpline
class	LinearizedInvertedPendulum2D
class	OptimalControllerSolver
	This class computes the gains for preview control for a given discrete system. The discrete system is defined by three matrix A, b, c such as : . More...
class	PreviewControl
	Class to implement the preview control. More...
class	SupportFSM
class	ZMPPreviewControlWithMultiBodyZMP
	Object to generate the angle positions every 5 ms from a set of absolute foot positions. More...
Typedefs
typedef struct COMPosition_s	COMPosition
typedef struct COMPosition_s	WaistState
typedef struct COMState_s	COMState
typedef struct RelativeFootPosition_s	RelativeFootPosition
typedef struct ZMPPosition_s	ZMPPosition
typedef struct FootAbsolutePosition_t	FootAbsolutePosition
typedef struct LinearConstraintInequality_s	LinearConstraintInequality_t
typedef struct LinearConstraintInequalityFreeFeet_s	LinearConstraintInequalityFreeFeet_t
typedef struct SupportFeet_s	SupportFeet_t
typedef struct ReferenceAbsoluteVelocity_t	ReferenceAbsoluteVelocity
typedef std::vector< CH_Point >	ConvexHullList
Functions
WALK_GEN_JRL_EXPORT PatternGeneratorInterface *	patternGeneratorInterfaceFactory (CjrlHumanoidDynamicRobot *aHDR)
ostream &	operator<< (ostream &os, const AnalyticalZMPCOGTrajectory &obj)
void	DistanceCHRep (CH_Point &s1, CH_Point &s2, double &distance1, double &distance2)
double	CompareCBRep (CH_Point &s1, CH_Point &s2)
Variables
CH_Point	HRP2CIO_GlobalP0

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Detailed Description

STL includes

Framework includes

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Typedef Documentation

typedef struct COMPosition_s PatternGeneratorJRL::COMPosition

typedef struct COMState_s PatternGeneratorJRL::COMState

typedef std::vector<CH_Point> PatternGeneratorJRL::ConvexHullList

typedef struct FootAbsolutePosition_t PatternGeneratorJRL::FootAbsolutePosition

typedef struct LinearConstraintInequality_s PatternGeneratorJRL::LinearConstraintInequality_t

typedef struct LinearConstraintInequalityFreeFeet_s PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t

typedef struct ReferenceAbsoluteVelocity_t PatternGeneratorJRL::ReferenceAbsoluteVelocity

typedef struct RelativeFootPosition_s PatternGeneratorJRL::RelativeFootPosition

typedef struct SupportFeet_s PatternGeneratorJRL::SupportFeet_t

typedef struct COMPosition_s PatternGeneratorJRL::WaistState

typedef struct ZMPPosition_s PatternGeneratorJRL::ZMPPosition

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Function Documentation

double PatternGeneratorJRL::CompareCBRep	(	CH_Point &	s1,
		CH_Point &	s2
	)

References PatternGeneratorJRL::CH_Point::col, HRP2CIO_GlobalP0, and PatternGeneratorJRL::CH_Point::row.

Referenced by PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull().

void PatternGeneratorJRL::DistanceCHRep	(	CH_Point &	s1,
		CH_Point &	s2,
		double &	distance1,
		double &	distance2
	)

References PatternGeneratorJRL::CH_Point::col, HRP2CIO_GlobalP0, and PatternGeneratorJRL::CH_Point::row.

Referenced by PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull().

std::ostream & PatternGeneratorJRL::operator<<	(	ostream &	os,
		const AnalyticalZMPCOGTrajectory &	obj
	)

References PatternGeneratorJRL::Polynome::GetCoefficients(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfCOGPolynomials(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfZMPPolynomials(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetHyperbolicCoefficients(), PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetNumberOfIntervals(), and PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetPolynomialDegrees().

WALK_GEN_JRL_EXPORT PatternGeneratorInterface* PatternGeneratorJRL::patternGeneratorInterfaceFactory

(

CjrlHumanoidDynamicRobot *

aHDR

)

Factory of Pattern generator interface.

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Variable Documentation

CH_Point PatternGeneratorJRL::HRP2CIO_GlobalP0

Referenced by CompareCBRep(), DistanceCHRep(), PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull(), and PatternGeneratorJRL::ltCH_Point::operator()().