Footstep plan interpolator. More...

#include <lipm_walking/PlanInterpolator.h>

Public Types
enum	Gait { Gait::Walk, Gait::Shuffle, Gait::Turn }
	Gait type. More...

using	SE2d = lipm_walking::utils::SE2d

Public Member Functions
	PlanInterpolator (std::shared_ptr< mc_rtc::gui::StateBuilder > gui)
	Initialization just stores the GUI handle for later. More...

void	addGUIElements ()
	Add GUI panel. More...

void	configure (const mc_rtc::Configuration &config)
	Read configuration from dictionary. More...

void	removeGUIElements ()
	Remove GUI panel. More...

void	run ()
	Generate a new footstep plan. More...

void	suggestGait ()
	Suggest gait based on local target coordinates. More...

void	updateSupportPath (const sva::PTransformd &X_0_lf, const sva::PTransformd &X_0_rf)
	Update support path display. More...

std::vector< std::string >	availablePlans () const
	List available contact plans. More...

const std::string &	customPlanName () const
	Get name of current custom footstep plan. More...

std::string	gait () const noexcept
	Get current gait as string. More...

void	gait (const std::string &dir)
	Update gait. More...

FootstepPlan	getPlan (std::string name)
	Get contact plan. More...

void	restoreBackwardTarget ()
	Restore last backward target. More...

void	restoreForwardTarget ()
	Restore last forward target. More...

void	restoreLateralTarget ()
	Restore last lateral target. More...

double	stepWidth () const
	Get step width. More...

void	stepWidth (double stepWidth)
	Set step width. More...

const sva::PTransformd &	worldReference () const
	Get walking target in world frame. More...

void	worldReference (const sva::PTransformd &worldReference)
	Set walking target in world frame. More...

bool	checkPlanUpdated ()
	Checks whether the plan has been recomputed (run() was called) More...

Static Public Attributes
static constexpr double	DEFAULT_EXTRA_STEP_WIDTH = 0.

static constexpr double	IN_PLACE_EXTRA_STEP_WIDTH = 0.02

static constexpr double	IN_PLACE_MAX_STEP_ANGLE = 45.

static constexpr double	MAX_EXTRA_STEP_WIDTH = 0.05

static constexpr double	MAX_LATERAL_STEP_LENGTH = 0.2

static constexpr double	MAX_SAGITTAL_STEP_LENGTH = 0.4

static constexpr double	MIN_STEP_LENGTH = 0.001

Detailed Description

Footstep plan interpolator.

Definition at line 50 of file PlanInterpolator.h.

Member Typedef Documentation

◆ SE2d

using lipm_walking::PlanInterpolator::SE2d = lipm_walking::utils::SE2d

Definition at line 54 of file PlanInterpolator.h.

Member Enumeration Documentation

◆ Gait

enum lipm_walking::PlanInterpolator::Gait

strong

Gait type.

Walking is the most common one, where footsteps alternate on each side of the support path. Shuffling is used for lateral stepping: after each step, the robot brings back the other foot next to the current one. Turning is a special pattern where only footstep orientations change.

Enumerator
Walk
Shuffle
Turn

Definition at line 72 of file PlanInterpolator.h.

Constructor & Destructor Documentation

◆ PlanInterpolator()

lipm_walking::PlanInterpolator::PlanInterpolator ( std::shared_ptr< mc_rtc::gui::StateBuilder > gui )

inline

Initialization just stores the GUI handle for later.

Parameters

gui	GUI handle.

Definition at line 84 of file PlanInterpolator.h.

Member Function Documentation

◆ addGUIElements()

void lipm_walking::PlanInterpolator::addGUIElements ( )

Add GUI panel.

Definition at line 42 of file PlanInterpolator.cpp.

◆ availablePlans()

std::vector<std::string> lipm_walking::PlanInterpolator::availablePlans ( ) const

inline

List available contact plans.

Returns: keys Names of available contact plans.

Definition at line 127 of file PlanInterpolator.h.

◆ checkPlanUpdated()

bool lipm_walking::PlanInterpolator::checkPlanUpdated ( )

inline

Checks whether the plan has been recomputed (run() was called)

Warning: This function is intended to be used only once to check and handle the updated plan status. All subsequent calls of this function until the next call of run() will return false

Returns: true If the plan has been updated; false Otherwise

Definition at line 286 of file PlanInterpolator.h.

◆ configure()

void lipm_walking::PlanInterpolator::configure ( const mc_rtc::Configuration & config )

Read configuration from dictionary.

Parameters

config Configuration dictionary.

Definition at line 179 of file PlanInterpolator.cpp.

◆ customPlanName()

const std::string& lipm_walking::PlanInterpolator::customPlanName ( ) const

inline

Get name of current custom footstep plan.

Returns: name Name of custom plan.

Definition at line 137 of file PlanInterpolator.h.

◆ gait() [1/2]

std::string lipm_walking::PlanInterpolator::gait ( ) const

inlinenoexcept

Get current gait as string.

Returns: gait Current gait string.

Definition at line 147 of file PlanInterpolator.h.

◆ gait() [2/2]

void lipm_walking::PlanInterpolator::gait ( const std::string & dir )

inline

Update gait.

Parameters

dir	New gait direction.

Definition at line 168 of file PlanInterpolator.h.

◆ getPlan()

FootstepPlan lipm_walking::PlanInterpolator::getPlan ( std::string name )

inline

Get contact plan.

Returns: plan Footstep plan.

Definition at line 195 of file PlanInterpolator.h.

◆ removeGUIElements()

void lipm_walking::PlanInterpolator::removeGUIElements ( )

Remove GUI panel.

Definition at line 136 of file PlanInterpolator.cpp.

◆ restoreBackwardTarget()

void lipm_walking::PlanInterpolator::restoreBackwardTarget ( )

inline

Restore last backward target.

Definition at line 210 of file PlanInterpolator.h.

◆ restoreForwardTarget()

void lipm_walking::PlanInterpolator::restoreForwardTarget ( )

inline

Restore last forward target.

Definition at line 220 of file PlanInterpolator.h.

◆ restoreLateralTarget()

void lipm_walking::PlanInterpolator::restoreLateralTarget ( )

inline

Restore last lateral target.

Definition at line 230 of file PlanInterpolator.h.

◆ run()

void lipm_walking::PlanInterpolator::run ( )

Generate a new footstep plan.

Definition at line 210 of file PlanInterpolator.cpp.

◆ stepWidth() [1/2]

double lipm_walking::PlanInterpolator::stepWidth ( ) const

inline

Get step width.

Returns: width Step width.

Definition at line 242 of file PlanInterpolator.h.

◆ stepWidth() [2/2]

void lipm_walking::PlanInterpolator::stepWidth ( double stepWidth )

inline

Set step width.

Parameters

stepWidth Step width.

Note
Step width is defined as the lateral distance between left and right foot centers. See Figure 3-9 of Human Walking handbook (Editors J. Rose and J. G. Gamble).

Definition at line 256 of file PlanInterpolator.h.

◆ suggestGait()

void lipm_walking::PlanInterpolator::suggestGait ( )

Suggest gait based on local target coordinates.

Definition at line 165 of file PlanInterpolator.cpp.

◆ updateSupportPath()

void lipm_walking::PlanInterpolator::updateSupportPath	(	const sva::PTransformd &	X_0_lf,
		const sva::PTransformd &	X_0_rf
	)

Update support path display.

Parameters

X_0_lf	Left foot transform.
X_0_rf	Right foot transform.

Definition at line 506 of file PlanInterpolator.cpp.

◆ worldReference() [1/2]

const sva::PTransformd& lipm_walking::PlanInterpolator::worldReference ( ) const

inline

Get walking target in world frame.

Definition at line 264 of file PlanInterpolator.h.

◆ worldReference() [2/2]

void lipm_walking::PlanInterpolator::worldReference ( const sva::PTransformd & worldReference )

inline

Set walking target in world frame.

Parameters

worldReference New target.

Definition at line 274 of file PlanInterpolator.h.

Member Data Documentation

◆ DEFAULT_EXTRA_STEP_WIDTH

constexpr double lipm_walking::PlanInterpolator::DEFAULT_EXTRA_STEP_WIDTH = 0.

staticconstexpr

Definition at line 56 of file PlanInterpolator.h.

◆ IN_PLACE_EXTRA_STEP_WIDTH

constexpr double lipm_walking::PlanInterpolator::IN_PLACE_EXTRA_STEP_WIDTH = 0.02

staticconstexpr

Definition at line 57 of file PlanInterpolator.h.

◆ IN_PLACE_MAX_STEP_ANGLE

constexpr double lipm_walking::PlanInterpolator::IN_PLACE_MAX_STEP_ANGLE = 45.

staticconstexpr

Definition at line 58 of file PlanInterpolator.h.

◆ MAX_EXTRA_STEP_WIDTH

constexpr double lipm_walking::PlanInterpolator::MAX_EXTRA_STEP_WIDTH = 0.05

staticconstexpr

Definition at line 59 of file PlanInterpolator.h.

◆ MAX_LATERAL_STEP_LENGTH

constexpr double lipm_walking::PlanInterpolator::MAX_LATERAL_STEP_LENGTH = 0.2

staticconstexpr

Definition at line 60 of file PlanInterpolator.h.

◆ MAX_SAGITTAL_STEP_LENGTH

constexpr double lipm_walking::PlanInterpolator::MAX_SAGITTAL_STEP_LENGTH = 0.4

staticconstexpr

Definition at line 61 of file PlanInterpolator.h.

◆ MIN_STEP_LENGTH

constexpr double lipm_walking::PlanInterpolator::MIN_STEP_LENGTH = 0.001

staticconstexpr

Definition at line 62 of file PlanInterpolator.h.

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ SE2d

Member Enumeration Documentation

◆ Gait

Constructor & Destructor Documentation

◆ PlanInterpolator()

Member Function Documentation

◆ addGUIElements()

◆ availablePlans()

◆ checkPlanUpdated()

◆ configure()

◆ customPlanName()

◆ gait() [1/2]

◆ gait() [2/2]

◆ getPlan()

◆ removeGUIElements()

◆ restoreBackwardTarget()

◆ restoreForwardTarget()

◆ restoreLateralTarget()

◆ run()

◆ stepWidth() [1/2]

◆ stepWidth() [2/2]

◆ suggestGait()

◆ updateSupportPath()

◆ worldReference() [1/2]

◆ worldReference() [2/2]

Member Data Documentation

◆ DEFAULT_EXTRA_STEP_WIDTH

◆ IN_PLACE_EXTRA_STEP_WIDTH

◆ IN_PLACE_MAX_STEP_ANGLE

◆ MAX_EXTRA_STEP_WIDTH

◆ MAX_LATERAL_STEP_LENGTH

◆ MAX_SAGITTAL_STEP_LENGTH

◆ MIN_STEP_LENGTH