#include <SteppingDemoClient.h>

Collaboration diagram for SteppingDemoClient:

Public Member Functions
	SteppingDemoClient (std::shared_ptr< ocra::Model > modelPtr, const int loopPeriod)
virtual	~SteppingDemoClient ()
Public Attributes
MOTION_TYPE	motionType
Protected Member Functions
virtual bool	initialize ()
virtual void	release ()
virtual void	loop ()
Private Member Functions
void	staticWalkingLoop ()
void	leftToRightLoop ()
Eigen::Vector3d	getLeftFootPosition ()
Eigen::Vector3d	getRightFootPosition ()
Eigen::Vector3d	getCoMPosition ()
void	positionCoMOver (COM_SUPPORT_POSITION newSupportPos)
bool	isBalanced ()
void	deactivateFootContacts (FOOT_CONTACTS foot)
void	activateFootContacts (FOOT_CONTACTS foot)
bool	isFootInContact (FOOT_CONTACTS foot)
void	pauseFor (double _pauseDuration)
bool	pauseFinished ()
bool	liftFoot (FOOT_CONTACTS foot, bool isLeftFootInContact, bool isRightFootInContact)
bool	setDownFoot (FOOT_CONTACTS foot)
void	stateMachineWithPauseInDoubleSupport ()
void	stateMachineWithoutPauseInDoubleSupport ()
Private Attributes
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
double	pauseTriggerTime
double	pauseDuration
double	currentTime
bool	isPausing
bool	isInLeftSupportMode
bool	isInRightSupportMode
bool	footTrajectoryStarted
std::shared_ptr < ocra_recipes::TrajectoryThread >	leftFoot_TrajThread
std::shared_ptr < ocra_recipes::TrajectoryThread >	rightFoot_TrajThread
std::shared_ptr < ocra_recipes::TrajectoryThread >	com_TrajThread
Eigen::Vector3d	leftFootHome
Eigen::Vector3d	rightFootHome
Eigen::Vector3d	comHome
Eigen::Vector3d	leftFootTarget
Eigen::Vector3d	rightFootTarget
Eigen::Vector3d	nextStep
Eigen::Vector3d	newCoMGoalPosition
double	startTime
bool	getInitialValues
CONTROL_PHASE	currentPhase
CONTROL_PHASE	nextPhase
bool	isMovingCoM
WalkingParams	walkingParams

Constructor & Destructor Documentation

SteppingDemoClient::SteppingDemoClient	(	std::shared_ptr< ocra::Model >	modelPtr,
		const int	loopPeriod
	)

SteppingDemoClient::~SteppingDemoClient ( ) [virtual]

Member Function Documentation

void SteppingDemoClient::activateFootContacts ( FOOT_CONTACTS foot ) [private]

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 SteppingDemoClient::deactivateFootContacts ( FOOT_CONTACTS foot ) [private]

Remember the right and left feet contact tasks? created in initialize(). This method acts 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.

Eigen::Vector3d SteppingDemoClient::getCoMPosition ( ) [private]

Retrieves the 3D position of the "CoM" as done by the yarpWholeBodyInterface.

Returns:: 3D position of the COM.

Eigen::Vector3d SteppingDemoClient::getLeftFootPosition ( ) [private]

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

Returns:: 3D position of the left foot.

Eigen::Vector3d SteppingDemoClient::getRightFootPosition ( ) [private]

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

Returns:: 3D position of the right foot.

bool SteppingDemoClient::initialize ( ) [protected, virtual]

The initialization consists of the following: 1. Defines trajectory types (e.g. Min. Jerk) 2. Defines the termination strategy 3. Instantiates trajectory threads for the left and right foot as well as for the CoM, sets them up (max velocity, error threshold) and finally starts them. 4. Instantiates ocra::TaskConnection objects for the left and right feet contacts (4 per foot on each corner).

returns: True if everything has been initialized properly, false otherwise.

bool SteppingDemoClient::isBalanced ( ) [private]

Uses the norm of the COM and joint velocities to understand if the robot is balanced.

Returns:: True when both the norm of the COM and joint velocities are below comVelThreshold and jointThreshold.

Todo:: A more balance-centered criterion should be used for this, ZMP-based for example.

bool SteppingDemoClient::isFootInContact ( FOOT_CONTACTS foot ) [private]

If the foot height is less than or equal to footContactReleaseThreshold, the feet contacts tasks are activated.

Parameters:

foot	LEFT_FOOT or RIGHT_FOOT.

Returns:: True if the activation of the contact happens successfully. False if the foot's elevation is not under the footContactReleaseThreshold.

void SteppingDemoClient::leftToRightLoop ( ) [private]

bool SteppingDemoClient::liftFoot	(	FOOT_CONTACTS	foot,
		bool	isLeftFootInContact,
		bool	isRightFootInContact
	)		`[private]`

Sets the right or left foot waypoint to rightFootTarget or leftFootTarget accordingly (where the foot will be lifted). These values are harcoded in the loop() method and updated only during the very first iteration when the variable getInitialValues is set to true.

Parameters:

foot	LEFT_FOOT or RIGHT_FOOT
isLeftFootInContact	Updates the current state of the left foot contact.
isRightFootInContact	Updates the current state of the right foot contact.

Returns:: True after the foot contact is deactivated.

void SteppingDemoClient::loop ( ) [protected, virtual]

Initially waits for two seconds, to make sure that all model states have been correctly updated during the initialization. During the first loop it retrieves left and right feet positions along with the com's.

bool SteppingDemoClient::pauseFinished ( ) [private]

Sets isPausing to false when pauseDuration has passed.

Returns:: True when the pause duration is over. False otherwise.

void SteppingDemoClient::pauseFor ( double _pauseDuration ) [private]

Mainly sets isPausing to true and stores the time at which the pause was called.

Parameters:

_pauseDuration Pause duration.

void SteppingDemoClient::positionCoMOver ( COM_SUPPORT_POSITION newSupportPos ) [private]

Sets COM trajectory waypoints according to the desired support position: LEFT_FOOT_XY: The COM goal position is set to be on top of the left foot. RIGHT_FOOT_XY: The COM goal position is set to be on top of the right foot. CENTERED_BETWEEN_FEET_XY: The COM goal position is set between both feet. The height of the com is always the current COM's height. Since the thread must have started before calling this method, it will update the current waypoint trajectory it has or start it.

Parameters:

newSupportPos New support position.

void SteppingDemoClient::release ( ) [protected, virtual]

Stops the trajectory threads of the CoM, left and right feet.

bool SteppingDemoClient::setDownFoot ( FOOT_CONTACTS foot ) [private]

Sets the right or left foot waypoint to rightFootHome or leftFootHome accordingly (where the foot will land). These values are harcoded in the loop() method and updated only during the very first iteration when the variable getInitialValues is set to true.

Parameters:

foot	LEFT_FOOT or RIGHT_FOOT

Returns:: True only after the foot has established contact again and the trajectory is over. False while the foot is still moving back down looking for contact or simply, the goal hasn't been attained.

void SteppingDemoClient::stateMachineWithoutPauseInDoubleSupport ( ) [private]

void SteppingDemoClient::stateMachineWithPauseInDoubleSupport ( ) [private]

void SteppingDemoClient::staticWalkingLoop ( ) [private]

Member Data Documentation

std::shared_ptr<ocra_recipes::TrajectoryThread> SteppingDemoClient::com_TrajThread [private]

Eigen::Vector3d SteppingDemoClient::comHome [private]

CONTROL_PHASE SteppingDemoClient::currentPhase [private]

double SteppingDemoClient::currentTime [private]

bool SteppingDemoClient::footTrajectoryStarted [private]

bool SteppingDemoClient::getInitialValues [private]

bool SteppingDemoClient::isInLeftSupportMode [private]

bool SteppingDemoClient::isInRightSupportMode [private]

bool SteppingDemoClient::isMovingCoM [private]

bool SteppingDemoClient::isPausing [private]

std::shared_ptr<ocra_recipes::TrajectoryThread> SteppingDemoClient::leftFoot_TrajThread [private]

ocra_recipes::TaskConnection::Ptr SteppingDemoClient::LeftFootContact_BackLeft [private]

ocra_recipes::TaskConnection::Ptr SteppingDemoClient::LeftFootContact_BackRight [private]

ocra_recipes::TaskConnection::Ptr SteppingDemoClient::LeftFootContact_FrontLeft [private]

ocra_recipes::TaskConnection::Ptr SteppingDemoClient::LeftFootContact_FrontRight [private]

Eigen::Vector3d SteppingDemoClient::leftFootHome [private]

Eigen::Vector3d SteppingDemoClient::leftFootTarget [private]

MOTION_TYPE SteppingDemoClient::motionType

Eigen::Vector3d SteppingDemoClient::newCoMGoalPosition [private]

CONTROL_PHASE SteppingDemoClient::nextPhase [private]

Eigen::Vector3d SteppingDemoClient::nextStep [private]

double SteppingDemoClient::pauseDuration [private]

double SteppingDemoClient::pauseTriggerTime [private]

std::shared_ptr<ocra_recipes::TrajectoryThread> SteppingDemoClient::rightFoot_TrajThread [private]

ocra_recipes::TaskConnection::Ptr SteppingDemoClient::RightFootContact_BackLeft [private]

ocra_recipes::TaskConnection::Ptr SteppingDemoClient::RightFootContact_BackRight [private]

ocra_recipes::TaskConnection::Ptr SteppingDemoClient::RightFootContact_FrontLeft [private]

ocra_recipes::TaskConnection::Ptr SteppingDemoClient::RightFootContact_FrontRight [private]

Eigen::Vector3d SteppingDemoClient::rightFootHome [private]

Eigen::Vector3d SteppingDemoClient::rightFootTarget [private]

double SteppingDemoClient::startTime [private]

WalkingParams SteppingDemoClient::walkingParams [private]

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

ocra-wbi-plugins/ocra-icub-clients/stepping-demo/include/stepping-demo/SteppingDemoClient.h
ocra-wbi-plugins/ocra-icub-clients/stepping-demo/src/SteppingDemoClient.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation