The main walking module class. More...

#include <oru_walk.h>

Inheritance diagram for oru_walk:

Public Member Functions
	oru_walk (ALPtr< ALBroker > broker, const string &name)

	~oru_walk ()

void	init ()

void	stopWalkingRemote ()
	An interface function that is called remotely to stop the execution. More...

void	initPosition ()

void	setStiffness (const float &)
	Set stiffness of joints. More...

void	walk ()
	Construct and initialize all necessary classes and register callback function. More...

Private Member Functions
void	initFastRead (const vector< string > &)
	Initializes variables, that are necessary for fast reading of data from memory. More...

void	initFastWrite (const vector< string > &)
	Initializes variables, that are necessary for fast sending of parameters to DCM. More...

void	initWalkCommands ()
	Initialize commands, that will be sent to DCM. More...

void	initJointAngles (ALValue &)

void	initWalkPattern (WMG &)
	Initialize selected walk pattern. More...

void	initWalkPattern_Straight (WMG &)
	Initializes walk pattern. More...

void	initWalkPattern_Diagonal (WMG &)
	Initializes walk pattern. More...

void	initWalkPattern_Circular (WMG &)
	Initializes walk pattern. More...

void	initSolver ()
	Initialize solver. More...

void	readSensors (jointState &)
	Update joint angles. More...

bool	solveMPCProblem (WMG &, smpc_parameters &)
	Solve the MPC problem. More...

void	solveIKsendCommands (const smpc_parameters &, const smpc::state_com &, const int, WMG &)
	Solve inverse kinematics and send commands to the controllers. More...

void	correctNextSupportPosition (WMG &)
	The position of the next support foot may change from the targeted, this function moves it to the right place. More...

void	feedbackError (smpc::state_com &)
	Correct state and the model based on the sensor data. More...

void	halt (const char , const char )
	Log a message, remove stiffness and die. More...

void	stopWalking (const char *)
	Unregister callback and log a message. More...

void	walkControl ()
	A control loop, that is executed in separate thread. More...

void	dcmCallback ()
	Wake up walk control thread periodically. More...

Private Attributes
ProcessSignalConnection	dcm_callback_connection

ALPtr< ALMemoryFastAccess >	access_sensor_values

int *	last_dcm_time_ms_ptr

ALValue	joint_commands

nao_igm	nao

double	ref_joint_angles [LOWER_JOINTS_NUM]

walkParameters	wp

smpc::solver *	solver

int	dcm_loop_counter

int	last_dcm_time_ms

ALPtr< DCMProxy >	dcm_proxy

ALPtr< ALMemoryProxy >	memory_proxy

boost::condition_variable	walk_control_condition

boost::mutex	walk_control_mutex

Detailed Description

The main walking module class.

Definition at line 73 of file oru_walk.h.

Constructor & Destructor Documentation

◆ oru_walk()

oru_walk::oru_walk	(	ALPtr< ALBroker >	broker,
		const string &	name
	)

Constructor for oru_walk object

Parameters

broker	The parent broker
name	The name of the module

Definition at line 18 of file oru_walk.cpp.

◆ ~oru_walk()

oru_walk::~oru_walk ( )

Destructor for oru_walk object

Definition at line 48 of file oru_walk.cpp.

Member Function Documentation

◆ correctNextSupportPosition()

void oru_walk::correctNextSupportPosition ( WMG & wmg )

private

The position of the next support foot may change from the targeted, this function moves it to the right place.

Definition at line 115 of file walking.cpp.

◆ dcmCallback()

void oru_walk::dcmCallback ( )

private

Wake up walk control thread periodically.

Definition at line 95 of file walking.cpp.

◆ feedbackError()

void oru_walk::feedbackError ( smpc::state_com & init_state )

private

Correct state and the model based on the sensor data.

Parameters

[in,out] init_state expected state

Definition at line 338 of file walking.cpp.

◆ halt()

void oru_walk::halt	(	const char *	message,
		const char *	function
	)

private

Log a message, remove stiffness and die.

Parameters

[in]	message	a message
[in]	function	name of the calling function.

Definition at line 441 of file walking.cpp.

◆ init()

void oru_walk::init ( )

Definition at line 66 of file oru_walk.cpp.

◆ initFastRead()

void oru_walk::initFastRead ( const vector< string > & joint_names )

private

Initializes variables, that are necessary for fast reading of data from memory.

Definition at line 14 of file oru_walk_init.cpp.

◆ initFastWrite()

void oru_walk::initFastWrite ( const vector< string > & joint_names )

private

Initializes variables, that are necessary for fast sending of parameters to DCM.

Definition at line 40 of file oru_walk_init.cpp.

◆ initJointAngles()

void oru_walk::initJointAngles ( ALValue & init_joint_angles )

private

Definition at line 128 of file oru_walk_init.cpp.

◆ initPosition()

void oru_walk::initPosition ( )

Attention: Hardcoded parameter!

Definition at line 203 of file oru_walk.cpp.

◆ initSolver()

void oru_walk::initSolver ( )

private

Initialize solver.

Definition at line 126 of file walking.cpp.

◆ initWalkCommands()

void oru_walk::initWalkCommands ( )

private

Initialize commands, that will be sent to DCM.

Definition at line 109 of file oru_walk_init.cpp.

◆ initWalkPattern()

void oru_walk::initWalkPattern ( WMG & wmg )

private

Initialize selected walk pattern.

Definition at line 16 of file walk_patterns.cpp.

◆ initWalkPattern_Circular()

void oru_walk::initWalkPattern_Circular ( WMG & wmg )

private

Initializes walk pattern.

Definition at line 133 of file walk_patterns.cpp.

◆ initWalkPattern_Diagonal()

void oru_walk::initWalkPattern_Diagonal ( WMG & wmg )

private

Initializes walk pattern.

Definition at line 89 of file walk_patterns.cpp.

◆ initWalkPattern_Straight()

void oru_walk::initWalkPattern_Straight ( WMG & wmg )

private

Initializes walk pattern.

Definition at line 48 of file walk_patterns.cpp.

◆ readSensors()

void oru_walk::readSensors ( jointState & joint_state )

private

Update joint angles.

Definition at line 72 of file walking.cpp.

◆ setStiffness()

void oru_walk::setStiffness ( const float & stiffnessValue )

Set stiffness of joints.

Parameters

[in] stiffnessValue value of stiffness [0;1]

Attention: Hardcoded parameter!

Definition at line 151 of file oru_walk.cpp.

◆ solveIKsendCommands()

void oru_walk::solveIKsendCommands	(	const smpc_parameters &	mpc,
		const smpc::state_com &	CoM,
		const int	control_loop_num,
		WMG &	wmg
	)

private

Solve inverse kinematics and send commands to the controllers.

Parameters

[in]	mpc	MPC parameters
[in]	CoM	CoM position
[in]	control_loop_num	number of control loops in future (>= 1).
[in,out]	wmg	WMG

Definition at line 278 of file walking.cpp.

◆ solveMPCProblem()

bool oru_walk::solveMPCProblem	(	WMG &	wmg,
		smpc_parameters &	mpc
	)

private

Solve the MPC problem.

Parameters

[in,out]	wmg	WMG
[in,out]	mpc	MPC parameters

Returns: false if there is not enough steps, true otherwise.

Definition at line 388 of file walking.cpp.

◆ stopWalking()

void oru_walk::stopWalking ( const char * message )

private

Unregister callback and log a message.

Parameters

[in] message a message

Definition at line 426 of file walking.cpp.

◆ stopWalkingRemote()

void oru_walk::stopWalkingRemote ( )

An interface function that is called remotely to stop the execution.

Definition at line 454 of file walking.cpp.

◆ walk()

void oru_walk::walk ( )

Construct and initialize all necessary classes and register callback function.

Definition at line 17 of file walking.cpp.

◆ walkControl()

void oru_walk::walkControl ( )

private

A control loop, that is executed in separate thread.

Attention: REAL-TIME!

Definition at line 173 of file walking.cpp.

Member Data Documentation

◆ access_sensor_values

ALPtr<ALMemoryFastAccess> oru_walk::access_sensor_values

private

Definition at line 127 of file oru_walk.h.

◆ dcm_callback_connection

ProcessSignalConnection oru_walk::dcm_callback_connection

private

Definition at line 124 of file oru_walk.h.

◆ dcm_loop_counter

int oru_walk::dcm_loop_counter

private

Definition at line 140 of file oru_walk.h.

◆ dcm_proxy

ALPtr<DCMProxy> oru_walk::dcm_proxy

private

Definition at line 143 of file oru_walk.h.

◆ joint_commands

ALValue oru_walk::joint_commands

private

Definition at line 131 of file oru_walk.h.

◆ last_dcm_time_ms

int oru_walk::last_dcm_time_ms

private

Definition at line 141 of file oru_walk.h.

◆ last_dcm_time_ms_ptr

int* oru_walk::last_dcm_time_ms_ptr

private

Definition at line 128 of file oru_walk.h.

◆ memory_proxy

ALPtr<ALMemoryProxy> oru_walk::memory_proxy

private

Definition at line 144 of file oru_walk.h.

◆ nao

nao_igm oru_walk::nao

private

Definition at line 134 of file oru_walk.h.

◆ ref_joint_angles

double oru_walk::ref_joint_angles[LOWER_JOINTS_NUM]

private

Definition at line 135 of file oru_walk.h.

◆ solver

smpc::solver* oru_walk::solver

private

Definition at line 138 of file oru_walk.h.

◆ walk_control_condition

boost::condition_variable oru_walk::walk_control_condition

private

Definition at line 146 of file oru_walk.h.

◆ walk_control_mutex

boost::mutex oru_walk::walk_control_mutex

private

Definition at line 147 of file oru_walk.h.

◆ wp

walkParameters oru_walk::wp

private

Definition at line 137 of file oru_walk.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ oru_walk()

◆ ~oru_walk()

Member Function Documentation

◆ correctNextSupportPosition()

◆ dcmCallback()

◆ feedbackError()

◆ halt()

◆ init()

◆ initFastRead()

◆ initFastWrite()

◆ initJointAngles()

◆ initPosition()

◆ initSolver()

◆ initWalkCommands()

◆ initWalkPattern()

◆ initWalkPattern_Circular()

◆ initWalkPattern_Diagonal()

◆ initWalkPattern_Straight()

◆ readSensors()

◆ setStiffness()

◆ solveIKsendCommands()

◆ solveMPCProblem()

◆ stopWalking()

◆ stopWalkingRemote()

◆ walk()

◆ walkControl()

Member Data Documentation

◆ access_sensor_values

◆ dcm_callback_connection

◆ dcm_loop_counter

◆ dcm_proxy

◆ joint_commands

◆ last_dcm_time_ms

◆ last_dcm_time_ms_ptr

◆ memory_proxy

◆ nao

◆ ref_joint_angles

◆ solver

◆ walk_control_condition

◆ walk_control_mutex

◆ wp