#include <InvKinWalkingParameters.h>
Inheritance diagram for InvKinWalkingParameters:
Public Types | |
rectangle = 0 | |
halfCircle | |
circle | |
rounded | |
optimized | |
freeFormQuad | |
numOfFootModes | |
enum | FootMode { rectangle = 0, halfCircle, circle, rounded, optimized, freeFormQuad, numOfFootModes } |
Public Member Functions | |
InvKinWalkingParameters (const char name[]="", int footMode=(int) rectangle, double foreHeight=0, double foreWidth=0, double foreCenterX=0, double hindHeight=0, double hindWidth=0, double hindCenterX=0, double foreFootLift=0, double hindFootLift=0, double foreFootTilt=0, double hindFootTilt=0, double legSpeedFactorX=1.0, double legSpeedFactorY=1.0, double legSpeedFactorR=1.0, double maxStepSizeX=0, double maxStepSizeY=0, double maxSpeedXChange=1000.0, double maxSpeedYChange=1000.0, double maxRotationChange=1000.0, double counterRotation=0, int stepLen=100, double groundPhaseF=0.5, double liftPhaseF=0, double loweringPhaseF=0, double groundPhaseH=0.5, double liftPhaseH=0, double loweringPhaseH=0, double legPhase0=0, double legPhase1=0.5, double legPhase2=0.5, double legPhase3=0, double bodyShiftX=0, double bodyShiftY=0, double bodyShiftOffset=0, double bodyTiltOffset=0, int leaveAnytime=0, long headTilt=jointDataInvalidValue, long headPan=jointDataInvalidValue, long headRoll=jointDataInvalidValue, long mouth=jointDataInvalidValue) | |
InvKinWalkingParameters (const GT2004Parameters >2004Param) | |
virtual void | getDimension (int &dim1, int &dim2) |
virtual void | getValue (int index1, int index2, double &min, double &max, double &value, ValueType &type) |
virtual void | setValue (int index1, int index2, double value) |
void | interpolate (InvKinWalkingParameters &p1, InvKinWalkingParameters &p2, double factor1) |
void | copyValuesFrom (const InvKinWalkingParameters ¶msToCopy) |
void | init () |
void | readValues () |
bool | allFeetOnGround (int currentStep) |
Public Attributes | |
char | name [100] |
name of the parameter set | |
FootMode | footMode |
how to move the feet | |
double | foreHeight |
fore walking height | |
double | foreWidth |
fore walking width distance robot center to foot | |
double | foreCenterX |
fore x-axis foot center position | |
double | hindHeight |
hind walking height | |
double | hindWidth |
hind walking width distance robot center to foot | |
double | hindCenterX |
hind x-axis foot center position | |
double | foreFootLift |
height of lifted fore foots | |
double | hindFootLift |
height of lifted hind foots | |
double | foreFootTilt |
tangens of tilt angle for fore foot movement | |
double | hindFootTilt |
tangens of tilt angle for hind foot movement | |
double | legSpeedFactorX |
speed factor by which fore legs are faster than hind legs | |
double | legSpeedFactorY |
speed factor by which fore legs are faster than hind legs | |
double | legSpeedFactorR |
speed factor by which fore legs are faster than hind legs | |
double | maxStepSizeX |
maximum step size | |
double | maxStepSizeY |
double | maxSpeedXChange |
maximum change in requested x speed (in mm/s change per step) | |
double | maxSpeedYChange |
maximum change in requested y speed (in mm/s change per step) | |
double | maxRotationChange |
maximum change in requested rotation speed (in rad/s change per step) | |
double | counterRotation |
int | stepLen |
number of ticks for one complete step | |
double | groundPhase [2] |
part of leg phase with foot on ground, front/hind legs | |
double | liftPhase [2] |
part of leg phase lifting foot, front/hind legs | |
double | loweringPhase [2] |
part of leg phase lowering foot, front/hind legs | |
double | legPhase [4] |
relative leg phases, time indexes for lifting each leg | |
double | bodyShiftX |
value for shifting body away from lifted legs in x direction (mm when leg fully lifted) | |
double | bodyShiftY |
value for shifting body away from lifted legs in y direction (mm when leg fully lifted) | |
double | bodyShiftOffset |
value by which the shift body motion is delayed (relative part of leg phase) | |
long | headTilt |
long | headPan |
long | headRoll |
long | mouth |
double | freeFormQuadPos [2][4][3] |
bool | leaveAnytime |
double | neckHeight |
double | bodyTilt |
double | bodyTiltOffset |
double | maxStepSizeR |
InvKinWalkingParameters::CorrectionValues | correctionValues |
fixed gait parameters | |
int | groundTime [2] |
number of ticks foot is on ground | |
int | liftTime [2] |
number of ticks for lifting foot | |
int | loweringTime [2] |
number of ticks for lowering foot | |
int | airTime [2] |
number of ticks foot is in air | |
int | stepLift [2] |
time index for lifting foot | |
int | stepAir [2] |
time index when foot is fully lifted | |
int | stepLower [2] |
time index for lowering foot | |
int | legPhaseIndex [4] |
leg phases, time indexes for lifting each leg | |
int | firstStep |
Classes | |
class | CorrectionValues |
Definition at line 26 of file InvKinWalkingParameters.h.
Definition at line 31 of file InvKinWalkingParameters.h.
InvKinWalkingParameters::InvKinWalkingParameters | ( | const char | name[] = "" , |
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int | footMode = (int)rectangle , |
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double | foreHeight = 0 , |
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double | foreWidth = 0 , |
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double | foreCenterX = 0 , |
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double | hindHeight = 0 , |
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double | hindWidth = 0 , |
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double | hindCenterX = 0 , |
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double | foreFootLift = 0 , |
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double | hindFootLift = 0 , |
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double | foreFootTilt = 0 , |
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double | hindFootTilt = 0 , |
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double | legSpeedFactorX = 1.0 , |
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double | legSpeedFactorY = 1.0 , |
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double | legSpeedFactorR = 1.0 , |
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double | maxStepSizeX = 0 , |
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double | maxStepSizeY = 0 , |
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double | maxSpeedXChange = 1000.0 , |
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double | maxSpeedYChange = 1000.0 , |
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double | maxRotationChange = 1000.0 , |
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double | counterRotation = 0 , |
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int | stepLen = 100 , |
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double | groundPhaseF = 0.5 , |
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double | liftPhaseF = 0 , |
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double | loweringPhaseF = 0 , |
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double | groundPhaseH = 0.5 , |
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double | liftPhaseH = 0 , |
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double | loweringPhaseH = 0 , |
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double | legPhase0 = 0 , |
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double | legPhase1 = 0.5 , |
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double | legPhase2 = 0.5 , |
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double | legPhase3 = 0 , |
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double | bodyShiftX = 0 , |
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double | bodyShiftY = 0 , |
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double | bodyShiftOffset = 0 , |
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double | bodyTiltOffset = 0 , |
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int | leaveAnytime = 0 , |
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long | headTilt = jointDataInvalidValue , |
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long | headPan = jointDataInvalidValue , |
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long | headRoll = jointDataInvalidValue , |
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long | mouth = jointDataInvalidValue | |||
) | [inline] |
Constructor
Definition at line 152 of file InvKinWalkingParameters.h.
References groundPhase, init(), legPhase, liftPhase, loweringPhase, name, and readValues().
InvKinWalkingParameters::InvKinWalkingParameters | ( | const GT2004Parameters & | gt2004Param | ) |
Constructor
Definition at line 14 of file InvKinWalkingParameters.cpp.
References bodyShiftOffset, bodyShiftX, bodyShiftY, bodyTilt, bodyTiltOffset, GT2004Parameters::correctedMotion, counterRotation, Individual::fitness, footMode, GT2004Parameters::footMode, GT2004Parameters::foreCenterX, foreCenterX, GT2004Parameters::foreFootLift, foreFootLift, GT2004Parameters::foreFootTilt, foreFootTilt, GT2004Parameters::foreHeight, foreHeight, GT2004Parameters::foreWidth, foreWidth, freeFormQuadPos, GT2004Parameters::groundPhase, groundPhase, halfCircle, GT2004Parameters::halfCircle, GT2004Parameters::headPan, headPan, GT2004Parameters::headRoll, headRoll, GT2004Parameters::headTilt, headTilt, GT2004Parameters::hindCenterX, hindCenterX, GT2004Parameters::hindFootLift, hindFootLift, GT2004Parameters::hindFootTilt, hindFootTilt, GT2004Parameters::hindHeight, hindHeight, GT2004Parameters::hindWidth, hindWidth, GT2004Parameters::index, int(), leaveAnytime, GT2004Parameters::legPhase, legPhase, legSpeedFactorR, legSpeedFactorX, legSpeedFactorY, GT2004Parameters::liftPhase, liftPhase, GT2004Parameters::loweringPhase, loweringPhase, maxRotationChange, maxSpeedXChange, maxSpeedYChange, maxStepSizeX, maxStepSizeY, GT2004Parameters::mouth, mouth, name, neckHeight, GT2004ParametersSet::numberOfParameters, rectangle, GT2004Parameters::rectangle, GT2004Parameters::stepLen, stepLen, Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.
bool InvKinWalkingParameters::allFeetOnGround | ( | int | currentStep | ) |
returns true when all feet are on ground
Definition at line 178 of file InvKinWalkingParameters.cpp.
References FORELEG, legPhaseIndex, stepLen, and stepLift.
Referenced by InvKinWalkingEngine::executeParameterized(), and init().
void InvKinWalkingParameters::copyValuesFrom | ( | const InvKinWalkingParameters & | paramsToCopy | ) |
copies the walking parameters without correctionValues
Definition at line 187 of file InvKinWalkingParameters.cpp.
References bodyShiftOffset, bodyShiftX, bodyShiftY, counterRotation, footMode, foreCenterX, foreFootLift, foreFootTilt, foreHeight, foreWidth, groundPhase, hindCenterX, hindFootLift, hindFootTilt, hindHeight, hindWidth, legPhase, legSpeedFactorR, legSpeedFactorX, legSpeedFactorY, liftPhase, loweringPhase, maxRotationChange, maxSpeedXChange, maxSpeedYChange, maxStepSizeX, maxStepSizeY, name, and stepLen.
Referenced by InvKinWalkingEngine::executeParameterized().
virtual void InvKinWalkingParameters::getDimension | ( | int & | dim1, | |
int & | dim2 | |||
) | [inline, virtual] |
virtual void InvKinWalkingParameters::getValue | ( | int | index1, | |
int | index2, | |||
double & | min, | |||
double & | max, | |||
double & | value, | |||
ValueType & | type | |||
) | [inline, virtual] |
Definition at line 251 of file InvKinWalkingParameters.h.
References bodyShiftOffset, bodyShiftX, bodyShiftY, counterRotation, footMode, foreCenterX, foreFootLift, foreFootTilt, foreHeight, foreWidth, groundPhase, hindCenterX, hindFootLift, hindFootTilt, hindHeight, hindWidth, legPhase, legSpeedFactorR, legSpeedFactorX, legSpeedFactorY, liftPhase, loweringPhase, maxRotationChange, maxSpeedXChange, maxSpeedYChange, maxStepSizeX, maxStepSizeY, stepLen, Individual::valueDouble, and Individual::valueInt.
void InvKinWalkingParameters::init | ( | ) |
initialise fixed parameters
Definition at line 93 of file InvKinWalkingParameters.cpp.
References airTime, allFeetOnGround(), bodyTilt, firstStep, foreHeight, getRobotConfiguration(), groundPhase, groundTime, hindHeight, int(), leaveAnytime, legPhase, legPhaseIndex, liftPhase, liftTime, loweringPhase, loweringTime, maxStepSizeR, maxStepSizeX, maxStepSizeY, stepAir, stepLen, stepLift, and stepLower.
Referenced by InvKinWalkingParameters(), BB2004InvKinWalkingEngine::loadParameters(), InvKinWalkingEngine::nextParametersInterpolation(), and BB2004InvKinWalkingEngine::setParameters().
void InvKinWalkingParameters::interpolate | ( | InvKinWalkingParameters & | p1, | |
InvKinWalkingParameters & | p2, | |||
double | factor1 | |||
) | [inline] |
Definition at line 393 of file InvKinWalkingParameters.h.
References bodyShiftOffset, bodyShiftX, bodyShiftY, bodyTiltOffset, correctionValues, counterRotation, footMode, foreCenterX, foreFootLift, foreFootTilt, foreHeight, foreWidth, InvKinWalkingParameters::CorrectionValues::forward, freeFormQuadPos, groundPhase, headPan, headRoll, headTilt, hindCenterX, hindFootLift, hindFootTilt, hindHeight, hindWidth, interpolateInvalid, leaveAnytime, legPhase, legSpeedFactorR, legSpeedFactorX, legSpeedFactorY, liftPhase, loweringPhase, maxRotationChange, maxSpeedXChange, maxSpeedYChange, maxStepSizeX, maxStepSizeY, mouth, neckHeight, InvKinWalkingParameters::CorrectionValues::rotationCenter, InvKinWalkingParameters::CorrectionValues::sideward, stepLen, and InvKinWalkingParameters::CorrectionValues::turning.
Referenced by InvKinWalkingEngine::nextParametersInterpolation().
void InvKinWalkingParameters::readValues | ( | ) |
reads the correction values, neck height from odometry.cfg
Definition at line 139 of file InvKinWalkingParameters.cpp.
References InvKinWalkingParameters::CorrectionValues::backward, correctionValues, InStream< S, R >::eof(), InFile::exists(), InvKinWalkingParameters::CorrectionValues::forward, idText, maxStepSizeR, maxStepSizeX, maxStepSizeY, name, neckHeight, OUTPUT, InvKinWalkingParameters::CorrectionValues::rotationCenter, InvKinWalkingParameters::CorrectionValues::sideward, text, and InvKinWalkingParameters::CorrectionValues::turning.
Referenced by ParamInvKinWalkingEngine::handleMessage(), and InvKinWalkingParameters().
virtual void InvKinWalkingParameters::setValue | ( | int | index1, | |
int | index2, | |||
double | value | |||
) | [inline, virtual] |
Implements Individual.
Definition at line 320 of file InvKinWalkingParameters.h.
References bodyShiftOffset, bodyShiftX, bodyShiftY, counterRotation, footMode, foreCenterX, foreFootLift, foreFootTilt, foreHeight, foreWidth, groundPhase, hindCenterX, hindFootLift, hindFootTilt, hindHeight, hindWidth, int(), legPhase, legSpeedFactorR, legSpeedFactorX, legSpeedFactorY, liftPhase, loweringPhase, maxRotationChange, maxSpeedXChange, maxSpeedYChange, maxStepSizeX, maxStepSizeY, and stepLen.
number of ticks foot is in air
Definition at line 114 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().
value by which the shift body motion is delayed (relative part of leg phase)
Definition at line 90 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
value for shifting body away from lifted legs in x direction (mm when leg fully lifted)
Definition at line 86 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
value for shifting body away from lifted legs in y direction (mm when leg fully lifted)
Definition at line 88 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
body tilt angle
Definition at line 126 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateData(), InvKinWalkingEngine::executeParameterized(), init(), and InvKinWalkingParameters().
parameter dependent body tilt offset.
Definition at line 126 of file InvKinWalkingParameters.h.
Referenced by CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), InvKinWalkingEngine::executeParameterized(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), interpolate(), InvKinWalkingParameters(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
Factors to convert requested body speed to internal leg speed these values are read from odometry.cfg
Referenced by InvKinWalkingEngine::calculateLegSpeeds(), interpolate(), InvKinWalkingEngine::limitToMaxSpeed(), BB2004InvKinWalkingEngine::loadParameters(), readValues(), and BB2004InvKinWalkingEngine::setParameters().
while walking sideways a rotational speed is added to prevent unwanted rotation this factor is multiplied with y speed and added to rotation speed
Definition at line 76 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateLegSpeeds(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
time index for first time all feet are on ground
Definition at line 119 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::executeParameterized(), init(), and InvKinWalkingEngine::setParameters().
how to move the feet
Definition at line 41 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CInvKinParametersDlgBar::OnSelchangeInvKinParComboFootMode(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), CInvKinParametersDlgBar::updateControls(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
fore x-axis foot center position
Definition at line 45 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
height of lifted fore foots
Definition at line 51 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
tangens of tilt angle for fore foot movement
Definition at line 54 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
fore walking height
Definition at line 43 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
fore walking width distance robot center to foot
Definition at line 44 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
double InvKinWalkingParameters::freeFormQuadPos[2][4][3] |
foot position coordinates for free form quad mode
Definition at line 102 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), interpolate(), and InvKinWalkingParameters().
double InvKinWalkingParameters::groundPhase[2] |
part of leg phase with foot on ground, front/hind legs
Definition at line 80 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
number of ticks foot is on ground
Definition at line 111 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().
Definition at line 97 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateData(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), and CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard().
Definition at line 97 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateData(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), and CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard().
joint angles for joints not used for walking these must be jointDataInvalidValue to enable head motion use these for special walks that use the head eg for grabbing the ball
Definition at line 97 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateData(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), and CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard().
hind x-axis foot center position
Definition at line 49 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
height of lifted hind foots
Definition at line 52 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
tangens of tilt angle for hind foot movement
Definition at line 55 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
hind walking height
Definition at line 47 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
hind walking width distance robot center to foot
Definition at line 48 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), BB2004InvKinWalkingEngine::updateOdometry(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
whether engine can be left anytime or only when all four feet are on ground#
Definition at line 107 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::executeParameterized(), init(), interpolate(), InvKinWalkingParameters(), BB2004InvKinWalkingEngine::loadParameters(), and BB2004InvKinWalkingEngine::setParameters().
double InvKinWalkingParameters::legPhase[4] |
relative leg phases, time indexes for lifting each leg
Definition at line 83 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
leg phases, time indexes for lifting each leg
Definition at line 118 of file InvKinWalkingParameters.h.
Referenced by allFeetOnGround(), InvKinWalkingEngine::calculateFootPositions(), and init().
speed factor by which fore legs are faster than hind legs
Definition at line 59 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateLegSpeeds(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
speed factor by which fore legs are faster than hind legs
Definition at line 57 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateLegSpeeds(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
speed factor by which fore legs are faster than hind legs
Definition at line 58 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateLegSpeeds(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
double InvKinWalkingParameters::liftPhase[2] |
part of leg phase lifting foot, front/hind legs
Definition at line 81 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
number of ticks for lifting foot
Definition at line 112 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().
double InvKinWalkingParameters::loweringPhase[2] |
part of leg phase lowering foot, front/hind legs
Definition at line 82 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
number of ticks for lowering foot
Definition at line 113 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().
maximum change in requested rotation speed (in rad/s change per step)
Definition at line 70 of file InvKinWalkingParameters.h.
Referenced by CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), getValue(), interpolate(), InvKinWalkingParameters(), CInvKinParametersDlgBar::OnContextMenu(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), InvKinWalkingEngine::smoothMotionRequest(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
maximum change in requested x speed (in mm/s change per step)
Definition at line 66 of file InvKinWalkingParameters.h.
Referenced by CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), InvKinWalkingEngine::smoothMotionRequest(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
maximum change in requested y speed (in mm/s change per step)
Definition at line 68 of file InvKinWalkingParameters.h.
Referenced by CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), getValue(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), setValue(), InvKinWalkingEngine::smoothMotionRequest(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
maximal step size for rotation steps this is calculated from maximal step sizes
Definition at line 133 of file InvKinWalkingParameters.h.
Referenced by init(), InvKinWalkingEngine::limitToMaxSpeed(), BB2004InvKinWalkingEngine::loadParameters(), readValues(), and BB2004InvKinWalkingEngine::setParameters().
maximum step size
Definition at line 62 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), InvKinWalkingEngine::limitToMaxSpeed(), BB2004InvKinWalkingEngine::loadParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), readValues(), BB2004InvKinWalkingEngine::setParameters(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
Definition at line 63 of file InvKinWalkingParameters.h.
Referenced by BBInvKinIndividual::BBInvKinIndividual(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), InvKinWalkingEngine::limitToMaxSpeed(), BB2004InvKinWalkingEngine::loadParameters(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), readValues(), BB2004InvKinWalkingEngine::setParameters(), setValue(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
Definition at line 97 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateData(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), and CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard().
char InvKinWalkingParameters::name[100] |
name of the parameter set
Definition at line 29 of file InvKinWalkingParameters.h.
Referenced by copyValuesFrom(), InvKinWalkingParameters(), operator<<(), operator>>(), and readValues().
neck height in mm while walking
Definition at line 123 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::executeParameterized(), interpolate(), InvKinWalkingParameters(), and readValues().
time index when foot is fully lifted
Definition at line 116 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().
number of ticks for one complete step
Definition at line 78 of file InvKinWalkingParameters.h.
Referenced by allFeetOnGround(), BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), InvKinWalkingEngine::calculateRelativeFootPosition(), CGT2004WalkingEngineParamSetDlgBar::copyToClipboard(), copyValuesFrom(), InvKinWalkingEngine::executeParameterized(), CInvKinParametersDlgBar::getNumberOfEvolveValues(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), InvKinWalkingEngine::nextParametersInterpolation(), CInvKinParametersDlgBar::OnCustomdrawSlider_stepLen(), CInvKinParametersDlgBar::OnKillFocusEditCtrls(), CDebugMessageGeneratorDlgBar::OnSend(), operator<<(), operator>>(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), InvKinWalkingEngine::setParameters(), setValue(), BB2004InvKinWalkingEngine::updateOdometry(), and CInvKinParametersDlgBar::walkParamToTextBuffer().
time index for lifting foot
Definition at line 115 of file InvKinWalkingParameters.h.
Referenced by allFeetOnGround(), InvKinWalkingEngine::calculateRelativeFootPosition(), and init().
time index for lowering foot
Definition at line 117 of file InvKinWalkingParameters.h.
Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().