lipm_walking::ExternalPlanner Struct Reference

Handle requesting/receiving a footstep plan from an external planner. More...

#include <lipm_walking/ExternalPlanner.h>

Public Types
enum	State {   Standing ,   DoubleSupport ,   SingleSupport }
using	SE2d = lipm_walking::utils::SE2d
using	Request = mc_plugin::ExternalFootstepPlanner::Request
using	Foot = mc_plugin::ExternalFootstepPlanner::Foot

Public Member Functions
	ExternalPlanner (mc_control::MCController &ctl)
void	configure (const mc_rtc::Configuration &config)
	External planning configuration. More...
bool	planningRequested () const
void	requestPlan (const State state, const Foot supportFoot, const utils::SE2d &start_lf, const utils::SE2d &start_rf, double allowed_time)
	Request a plan to the plugin. More...
void	cancelRequest ()
bool	planRequested (State state) const noexcept
bool	hasPlan (State state) const
std::vector< lipm_walking::Contact >	plan ()
	Convert plugin's plan to lipm_walking plan format. More...
State	state () const
void	leftFootLandingOffset (const SE2d &offset)
	Offset between the left foot and the world target frame, expressed in world target frame. More...
void	rightFootLandingOffset (const SE2d &offset)
void	allowedTimeSingleSupport (const double time)
double	allowedTimeSingleSupport () const noexcept
void	allowedTimeStanding (const double time)
double	allowedTimeStanding () const noexcept
void	activate ()
void	deactivate ()

Protected Member Functions
void	requestPlanWorldPositionTarget (const State state, const Foot supportFoot, const utils::SE2d &start_lf, const utils::SE2d &start_rf, const utils::SE2d &targetWorld, double allowed_time)
	Request a plan with a target expressed in world frame. More...
void	requestPlanLocalPositionTarget (const State state, const Foot supportFoot, const utils::SE2d &start_lf, const utils::SE2d &start_rf, const utils::SE2d &localTarget, double allowed_time)
	Request a plan in local frame. More...

Protected Attributes
mc_control::MCController &	ctl_
State	state_ = State::Standing
bool	requested_ = false
double	allowedTimeSingleSupport_ = 0.5
double	allowedTimeStanding_ = 2.0
SE2d	leftFootLandingOffset_ {0., 0.15, 0.}
	Landing offset of the feet w.r.t target frame, expressed in target frame. More...
SE2d	rightFootLandingOffset_ {0, -0.15, 0.}

Detailed Description

Handle requesting/receiving a footstep plan from an external planner.

For now this is intended to be used along with the mc_plugin_footstep_plan plugin that handles the actual communication with the planner, and conversion to a FootstepPlan.

Definition at line 23 of file ExternalPlanner.h.

Member Typedef Documentation

Foot

using lipm_walking::ExternalPlanner::Foot = mc_plugin::ExternalFootstepPlanner::Foot

Definition at line 27 of file ExternalPlanner.h.

Request

using lipm_walking::ExternalPlanner::Request = mc_plugin::ExternalFootstepPlanner::Request

Definition at line 26 of file ExternalPlanner.h.

SE2d

using lipm_walking::ExternalPlanner::SE2d = lipm_walking::utils::SE2d

Definition at line 25 of file ExternalPlanner.h.

Member Enumeration Documentation

State

enum lipm_walking::ExternalPlanner::State

Enumerator
Standing
DoubleSupport
SingleSupport

Definition at line 29 of file ExternalPlanner.h.

Constructor & Destructor Documentation

ExternalPlanner()

lipm_walking::ExternalPlanner::ExternalPlanner

(

mc_control::MCController &

ctl

)

Definition at line 14 of file ExternalPlanner.cpp.

Member Function Documentation

activate()

void lipm_walking::ExternalPlanner::activate ( )

inline

Definition at line 155 of file ExternalPlanner.h.

allowedTimeSingleSupport() [1/2]

double lipm_walking::ExternalPlanner::allowedTimeSingleSupport ( ) const

inlinenoexcept

Definition at line 140 of file ExternalPlanner.h.

allowedTimeSingleSupport() [2/2]

void lipm_walking::ExternalPlanner::allowedTimeSingleSupport ( const double  time )

inline

Definition at line 135 of file ExternalPlanner.h.

allowedTimeStanding() [1/2]

double lipm_walking::ExternalPlanner::allowedTimeStanding ( ) const

inlinenoexcept

Definition at line 150 of file ExternalPlanner.h.

allowedTimeStanding() [2/2]

void lipm_walking::ExternalPlanner::allowedTimeStanding ( const double  time )

inline

Definition at line 145 of file ExternalPlanner.h.

cancelRequest()

void lipm_walking::ExternalPlanner::cancelRequest ( )

inline

Definition at line 89 of file ExternalPlanner.h.

configure()

void lipm_walking::ExternalPlanner::configure

(

const mc_rtc::Configuration &

config

)

External planning configuration.

Parameters

config

Config in the format of the "external" plan section of LIPMWalking configuration

Definition at line 16 of file ExternalPlanner.cpp.

deactivate()

void lipm_walking::ExternalPlanner::deactivate ( )

inline

Definition at line 160 of file ExternalPlanner.h.

hasPlan()

bool lipm_walking::ExternalPlanner::hasPlan ( State  state ) const

inline

Definition at line 100 of file ExternalPlanner.h.

leftFootLandingOffset()

void lipm_walking::ExternalPlanner::leftFootLandingOffset ( const SE2d &  offset )

inline

Offset between the left foot and the world target frame, expressed in world target frame.

Warning

It is the user's responsibility to ensure that the left-to-right foot offset results in a collision-free landing stance.

See also

rightFootLandingOffset

Parameters

offset

Offset expressed in world target frame

Definition at line 125 of file ExternalPlanner.h.

plan()

std::vector< lipm_walking::Contact > lipm_walking::ExternalPlanner::plan

(

)

Convert plugin's plan to lipm_walking plan format.

Returns

lipm_walking::FootstepPlan The plan to be executed

Definition at line 104 of file ExternalPlanner.cpp.

planningRequested()

bool lipm_walking::ExternalPlanner::planningRequested ( ) const

inline

Definition at line 45 of file ExternalPlanner.h.

planRequested()

bool lipm_walking::ExternalPlanner::planRequested ( State  state ) const

inlinenoexcept

Definition at line 95 of file ExternalPlanner.h.

requestPlan()

void lipm_walking::ExternalPlanner::requestPlan	(	const State	state,
		const Foot	supportFoot,
		const utils::SE2d &	start_lf,
		const utils::SE2d &	start_rf,
		double	allowed_time
	)

Request a plan to the plugin.

The target is set within the ExternalFootstepPlannerPlugin (from GUI or other inputs).

Note

Since the planner usually takes time to find and send a solution, a plan typically needs to be requested with a starting configuration corresponding to a future robot state. E.g when requesting a plan during the SingleSupport phase, you'll want to request a plan with an initial Left/Right foot configuration corresponding to the (predicted) landing state in the next DoubleSupport phase. That way the planner will have time to compute the plan while the current SingleSupport phase executes (current step) and the requested plan should be available at the start of the next DoubleSupport phase

Parameters

state	Walking state for which the computed plan is intended
supportFoot	Starting support foot (first swing foot will be the opposite foot)
start_lf	Starting configuration that the left foot will have in "state"
start_rf	Starting configuration for the right foot will have in "state"
allowed_time	Time allowed for the planner to compute a solution. This should be less than the time available between when the request is made and when it is expected to be used. Example: SingleSupport (0.7s), making a request at t=0.2s during the SingleSupport phase for a plan intended for the next DoubleSupport phase that is: requestPlan(DoubleSupport, <support foot for the next single support phase>, <left foot state in the next double support phase (landing state)>, <right foot state in the next double support phase (landing state)>, 0.3) This means we have 0.5s available to compute until the DoubleSupport phase. Accounting for communication time with the planner, allowed_time<=0.4s would be a reasonable choice. Also note that setting a time as small as possible while ensuring that the planner will find a solution is preferable as it gives more time-span available to request a new plan.

Definition at line 34 of file ExternalPlanner.cpp.

requestPlanLocalPositionTarget()

void lipm_walking::ExternalPlanner::requestPlanLocalPositionTarget ( const State  state, const Foot  supportFoot, const utils::SE2d &  start_lf, const utils::SE2d &  start_rf, const utils::SE2d &  localTarget, double  allowed_time  )

protected

Request a plan in local frame.

The local frame is defined as the frame halfway between start_lf and start_rf

See also

requestPlanWorldPositionTarget

requestPlan

Definition at line 89 of file ExternalPlanner.cpp.

requestPlanWorldPositionTarget()

void lipm_walking::ExternalPlanner::requestPlanWorldPositionTarget ( const State  state, const Foot  supportFoot, const utils::SE2d &  start_lf, const utils::SE2d &  start_rf, const utils::SE2d &  targetWorld, double  allowed_time  )

protected

Request a plan with a target expressed in world frame.

See also

requestPlan

Definition at line 64 of file ExternalPlanner.cpp.

rightFootLandingOffset()

void lipm_walking::ExternalPlanner::rightFootLandingOffset ( const SE2d &  offset )

inline

Definition at line 130 of file ExternalPlanner.h.

state()

State lipm_walking::ExternalPlanner::state ( ) const

inline

Definition at line 112 of file ExternalPlanner.h.

Member Data Documentation

allowedTimeSingleSupport_

double lipm_walking::ExternalPlanner::allowedTimeSingleSupport_ = 0.5

protected

Definition at line 197 of file ExternalPlanner.h.

allowedTimeStanding_

double lipm_walking::ExternalPlanner::allowedTimeStanding_ = 2.0

protected

Definition at line 198 of file ExternalPlanner.h.

ctl_

mc_control::MCController& lipm_walking::ExternalPlanner::ctl_

protected

Definition at line 194 of file ExternalPlanner.h.

leftFootLandingOffset_

SE2d lipm_walking::ExternalPlanner::leftFootLandingOffset_ {0., 0.15, 0.}

protected

Landing offset of the feet w.r.t target frame, expressed in target frame.

Warning

These default values are intended to reduce the risk of the robot stepping on itself. They must be set per-robot to a collision-free stance.

Definition at line 206 of file ExternalPlanner.h.

requested_

bool lipm_walking::ExternalPlanner::requested_ = false

protected

Definition at line 196 of file ExternalPlanner.h.

rightFootLandingOffset_

SE2d lipm_walking::ExternalPlanner::rightFootLandingOffset_ {0, -0.15, 0.}

protected

Definition at line 207 of file ExternalPlanner.h.

state_

State lipm_walking::ExternalPlanner::state_ = State::Standing

protected

Definition at line 195 of file ExternalPlanner.h.