InvKinWalkingParameters Class Reference

#include <InvKinWalkingParameters.h>

Inheritance diagram for InvKinWalkingParameters:

Individual ERS7EvolveWalkingParameters MSH2004BackwardsWalkingParameters MSH2004WalkingParameters TurnKickWalkingParameters TurnWithBallWalkingParameters UpsideDownWalkingParameters List of all members.

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 &gt2004Param)
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 &paramsToCopy)
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

Detailed Description

Parameters for InvKinWalkingEngine

Author:
Max Risler

Definition at line 26 of file InvKinWalkingParameters.h.


Member Enumeration Documentation

enum InvKinWalkingParameters::FootMode

Enumerator:
rectangle 
halfCircle 
circle 
rounded 
optimized 
freeFormQuad 
numOfFootModes 

Definition at line 31 of file InvKinWalkingParameters.h.


Constructor & Destructor Documentation

InvKinWalkingParameters::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 
) [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.


Member Function Documentation

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]

Implements Individual.

Definition at line 244 of file InvKinWalkingParameters.h.

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.


Member Data Documentation

int InvKinWalkingParameters::airTime[2]

number of ticks foot is in air

Definition at line 114 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().

double InvKinWalkingParameters::bodyShiftOffset

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().

double InvKinWalkingParameters::bodyShiftX

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().

double InvKinWalkingParameters::bodyShiftY

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().

double InvKinWalkingParameters::bodyTilt

body tilt angle

Definition at line 126 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateData(), InvKinWalkingEngine::executeParameterized(), init(), and InvKinWalkingParameters().

double InvKinWalkingParameters::bodyTiltOffset

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().

class InvKinWalkingParameters::CorrectionValues InvKinWalkingParameters::correctionValues

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().

double InvKinWalkingParameters::counterRotation

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().

int InvKinWalkingParameters::firstStep

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().

FootMode InvKinWalkingParameters::footMode

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().

double InvKinWalkingParameters::foreCenterX

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().

double InvKinWalkingParameters::foreFootLift

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().

double InvKinWalkingParameters::foreFootTilt

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().

double InvKinWalkingParameters::foreHeight

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().

double InvKinWalkingParameters::foreWidth

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().

int InvKinWalkingParameters::groundTime[2]

number of ticks foot is on ground

Definition at line 111 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().

long InvKinWalkingParameters::headPan

Definition at line 97 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateData(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), and CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard().

long InvKinWalkingParameters::headRoll

Definition at line 97 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateData(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingParameters(), CDebugMessageGeneratorDlgBar::OnSend(), and CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard().

long InvKinWalkingParameters::headTilt

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().

double InvKinWalkingParameters::hindCenterX

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().

double InvKinWalkingParameters::hindFootLift

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().

double InvKinWalkingParameters::hindFootTilt

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().

double InvKinWalkingParameters::hindHeight

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().

double InvKinWalkingParameters::hindWidth

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().

bool InvKinWalkingParameters::leaveAnytime

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().

int InvKinWalkingParameters::legPhaseIndex[4]

leg phases, time indexes for lifting each leg

Definition at line 118 of file InvKinWalkingParameters.h.

Referenced by allFeetOnGround(), InvKinWalkingEngine::calculateFootPositions(), and init().

double InvKinWalkingParameters::legSpeedFactorR

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().

double InvKinWalkingParameters::legSpeedFactorX

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().

double InvKinWalkingParameters::legSpeedFactorY

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().

int InvKinWalkingParameters::liftTime[2]

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().

int InvKinWalkingParameters::loweringTime[2]

number of ticks for lowering foot

Definition at line 113 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().

double InvKinWalkingParameters::maxRotationChange

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().

double InvKinWalkingParameters::maxSpeedXChange

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().

double InvKinWalkingParameters::maxSpeedYChange

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().

double InvKinWalkingParameters::maxStepSizeR

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().

double InvKinWalkingParameters::maxStepSizeX

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().

double InvKinWalkingParameters::maxStepSizeY

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().

long InvKinWalkingParameters::mouth

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().

double InvKinWalkingParameters::neckHeight

neck height in mm while walking

Definition at line 123 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::executeParameterized(), interpolate(), InvKinWalkingParameters(), and readValues().

int InvKinWalkingParameters::stepAir[2]

time index when foot is fully lifted

Definition at line 116 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().

int InvKinWalkingParameters::stepLen

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().

int InvKinWalkingParameters::stepLift[2]

time index for lifting foot

Definition at line 115 of file InvKinWalkingParameters.h.

Referenced by allFeetOnGround(), InvKinWalkingEngine::calculateRelativeFootPosition(), and init().

int InvKinWalkingParameters::stepLower[2]

time index for lowering foot

Definition at line 117 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), and init().


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