StepController Class Reference

#include <StepController.h>

List of all members.

Public Member Functions
	StepController (int periodms, ocra::Model::Ptr model)
virtual	~StepController ()
bool	initialize ()
void	deactivateFeetContacts (FOOT foot)
void	activateFeetContacts (FOOT foot)
bool	doStepWithMaxVelocity (FOOT foot, Eigen::Vector3d target, double stepHeight)
void	step (FOOT foot, Eigen::Vector3d target, double stepDuration, double stepHeight)
bool	isStepFinished (FOOT foot)
double	getFootTrajError (FOOT foot, double &error)
Eigen::Vector3d	getLeftFootPosition ()
Eigen::Vector3d	getRightFootPosition ()
void	computeMidPoint (FOOT foot, Eigen::Vector3d target, double stepHeight, Eigen::Vector3d &midPoint)
void	doComputeMidPoint (Eigen::Vector3d currentFootPosition, Eigen::Vector3d target, double stepHeight, Eigen::Vector3d &midPoint)
bool	isTrajectoryFinished (FOOT foot)
void	stop ()
Eigen::MatrixXd	getContact2DCoordinates ()
Private Attributes
std::vector < ocra_recipes::TaskConnection::Ptr >	_contactsCollection
ocra_recipes::TaskConnection::Ptr	_LeftFootContact_BackLeft
ocra_recipes::TaskConnection::Ptr	_LeftFootContact_FrontLeft
ocra_recipes::TaskConnection::Ptr	_LeftFootContact_BackRight
ocra_recipes::TaskConnection::Ptr	_LeftFootContact_FrontRight
ocra_recipes::TaskConnection::Ptr	_RightFootContact_BackLeft
ocra_recipes::TaskConnection::Ptr	_RightFootContact_FrontLeft
ocra_recipes::TaskConnection::Ptr	_RightFootContact_BackRight
ocra_recipes::TaskConnection::Ptr	_RightFootContact_FrontRight
std::shared_ptr < ocra_recipes::TrajectoryThread >	_leftFoot_TrajThread
std::shared_ptr < ocra_recipes::TrajectoryThread >	_rightFoot_TrajThread
Eigen::Vector3d	target
Eigen::Vector3d	_leftFootPosition
Eigen::Vector3d	_rightFootPosition
ocra::Model::Ptr	_model
int	_period

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Detailed Description

Note:

Author:

Jorhabib Eljaik

Warning:

Work in progress! This is still a barebone class in the process of being tested.

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Constructor & Destructor Documentation

StepController::StepController	(	int	periodms,
		ocra::Model::Ptr	model
	)

StepController::~StepController

(

)

[virtual]

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Member Function Documentation

void StepController::activateFeetContacts

(

FOOT

foot

)

This method asks the ocra-icub-server to activate one by one the feet "corner" contact tasks for the specified foot.

Parameters:

foot	LEFT_FOOT or RIGHT_FOOT.

void StepController::computeMidPoint	(	FOOT	foot,
		Eigen::Vector3d	target,
		double	stepHeight,
		Eigen::Vector3d &	midPoint
	)

void StepController::deactivateFeetContacts

(

FOOT

foot

)

Remember the right and left feet contact tasks? created in initialize(). This method asks the ocra-icub-server to deactivate one by one the feet "corner" contact tasks for the specified foot.

Parameters:

foot	LEFT_FOOT or RIGHT_FOOT.

void StepController::doComputeMidPoint	(	Eigen::Vector3d	currentFootPosition,
		Eigen::Vector3d	target,
		double	stepHeight,
		Eigen::Vector3d &	midPoint
	)

bool StepController::doStepWithMaxVelocity	(	FOOT	foot,
		Eigen::Vector3d	target,
		double	stepHeight
	)

Eigen::MatrixXd StepController::getContact2DCoordinates

(

)

Returns the 2D coordinates of the contacts defined at the task level.

Returns:

Matrix of 2D coordinates of the contact points defined at task level.

double StepController::getFootTrajError	(	FOOT	foot,
		double &	error
	)

Eigen::Vector3d StepController::getLeftFootPosition

(

)

Retrieves the 3D position of the "l_sole" frame from the iCub model.

Returns:

3D position of the left foot.

Eigen::Vector3d StepController::getRightFootPosition

(

)

Retrieves the 3D position of the "r_sole" frame from the iCub model.

Returns:

3D position of the right foot.

bool StepController::initialize

(

)

Todo:

This max velocity must be compatible with the one specified in the linar constraints

bool StepController::isStepFinished

(

FOOT

foot

)

Checks if the step has reached it's target locations and if this is true then re-activates the foot contacts.

Parameters:

foot	LEFT_FOOT or RIGHT_FOOT (whichever is stepping currently)

bool StepController::isTrajectoryFinished

(

FOOT

foot

)

void StepController::step	(	FOOT	foot,
		Eigen::Vector3d	target,
		double	stepDuration,
		double	stepHeight
	)

Make a step with foot with a specific duration with a specific height.

Parameters:

foot	LEFT_FOOT or RIGHT_FOOT.
target	x,y,z location of where the foot should land.
duration	How long the step should take.
stepHeight	How high the foot should lift.

void StepController::stop

(

)

Stops the feet trajectory threads. To be called during the release of the owner thread.

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Member Data Documentation

std::vector<ocra_recipes::TaskConnection::Ptr> StepController::_contactsCollection [private]

std::shared_ptr<ocra_recipes::TrajectoryThread> StepController::_leftFoot_TrajThread [private]

ocra_recipes::TaskConnection::Ptr StepController::_LeftFootContact_BackLeft [private]

ocra_recipes::TaskConnection::Ptr StepController::_LeftFootContact_BackRight [private]

ocra_recipes::TaskConnection::Ptr StepController::_LeftFootContact_FrontLeft [private]

ocra_recipes::TaskConnection::Ptr StepController::_LeftFootContact_FrontRight [private]

Eigen::Vector3d StepController::_leftFootPosition [private]

ocra::Model::Ptr StepController::_model [private]

int StepController::_period [private]

std::shared_ptr<ocra_recipes::TrajectoryThread> StepController::_rightFoot_TrajThread [private]

ocra_recipes::TaskConnection::Ptr StepController::_RightFootContact_BackLeft [private]

ocra_recipes::TaskConnection::Ptr StepController::_RightFootContact_BackRight [private]

ocra_recipes::TaskConnection::Ptr StepController::_RightFootContact_FrontLeft [private]

ocra_recipes::TaskConnection::Ptr StepController::_RightFootContact_FrontRight [private]

Eigen::Vector3d StepController::_rightFootPosition [private]

Eigen::Vector3d StepController::target [private]

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

• ocra-wbi-plugins/ocra-icub-clients/walking-client/include/walking-client/StepController.h
• ocra-wbi-plugins/ocra-icub-clients/walking-client/src/StepController.cpp