footstep Class Reference

Defines a footstep. More...

#include <footstep.h>

Inheritance diagram for footstep:

Public Member Functions
	footstep (const double, const Transform< double, 3 > &, const Vector3d &, const unsigned int, const fs_type, const double *)
	Defines a footstep at a given position with a given orientation. More...
	footstep (const footstep &)
	A copy constructor. More...
	~footstep ()
	Destructor. More...
void	changePosture (const double *, const bool)
	Correct position of the footstep. More...
double	x ()
double	y ()
Public Member Functions inherited from RectangularConstraint_ZMP
	RectangularConstraint_ZMP (const double *)
	A constructor. More...
void	rotate_translate (const double, const double, const double, const double)
	translates from [0;0] to "p" and rotates from 0 to "angle". The 0 initial angle implies that D = [eye(2); -eye(2)]. More...
void	Constraints2Vert ()
	Computes the vertices of a polygon from the constraints (D*x <= d) More...

Public Attributes
double	angle
	Angle (relative to the world frame) of a footstep [rad.]. More...
double	ca
	cos(angle). More...
double	sa
	sin(angle). More...
unsigned int	time_period
	the period of time spent in this support More...
unsigned int	time_left
	the amount of time left in this support (=time_period on initialization) More...
fs_type	type
	type of the step. More...
Vector3d	ZMPref
	Reference ZMP point. More...
Transform< double, 3 > *	posture
Public Attributes inherited from RectangularConstraint_ZMP
double	D [4 *2]
	Matrix of the constraints D*z <= d (where z is a 2D point). More...
double	d [4]
double	d_orig [4]
	Size of the support polygon for a single support (no rotation / translation). More...
MatrixXd	vert
	Absolute coordinates of vertices. More...

Detailed Description

Defines a footstep.

Definition at line 29 of file footstep.h.

Constructor & Destructor Documentation

footstep() [1/2]

footstep::footstep	(	const double	angle_,
		const Transform< double, 3 > &	posture_,
		const Vector3d &	ZMPref_,
		const unsigned int	time_period_,
		const fs_type	type_,
		const double *	d_
	)

Defines a footstep at a given position with a given orientation.

Parameters

[in]	angle_	absolute rotation angle.
[in]	posture_	absolute position and orientation of the foot.
[in]	ZMPref_	absolute reference ZMP position for the foot.
[in]	time_period_	amount of time to spend in the step (ms.).
[in]	type_	type of the step.
[in]	d_	ZMP constraints as defined in RectangularConstraint_ZMP::RectangularConstraint_ZMP.

Definition at line 32 of file footstep.cpp.

footstep() [2/2]

footstep::footstep

(

const footstep &

copy_from

)

A copy constructor.

Parameters

[in]

copy_from

original class instance

Definition at line 57 of file footstep.cpp.

~footstep()

footstep::~footstep

(

)

Destructor.

Definition at line 75 of file footstep.cpp.

Member Function Documentation

changePosture()

void footstep::changePosture	(	const double *	new_posture,
		const bool	zero_z_coordinate
	)

Correct position of the footstep.

Parameters

[in]	new_posture	new posture of the step.
[in]	zero_z_coordinate	set z coordinate to 0.0

Definition at line 106 of file footstep.cpp.

x()

double footstep::x

(

)

Returns

x coordinate

Definition at line 84 of file footstep.cpp.

y()

double footstep::y

(

)

Returns

y coordinate

Definition at line 93 of file footstep.cpp.

Member Data Documentation

angle

double footstep::angle

Angle (relative to the world frame) of a footstep [rad.].

Definition at line 49 of file footstep.h.

ca

double footstep::ca

cos(angle).

Definition at line 52 of file footstep.h.

posture

Transform<double, 3>* footstep::posture

Definition at line 70 of file footstep.h.

sa

double footstep::sa

sin(angle).

Definition at line 55 of file footstep.h.

time_left

unsigned int footstep::time_left

the amount of time left in this support (=time_period on initialization)

Definition at line 61 of file footstep.h.

time_period

unsigned int footstep::time_period

the period of time spent in this support

Definition at line 58 of file footstep.h.

type

fs_type footstep::type

type of the step.

Definition at line 64 of file footstep.h.

ZMPref

Vector3d footstep::ZMPref

Reference ZMP point.

Definition at line 67 of file footstep.h.

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

• WMG/footstep.h
• WMG/footstep.cpp