GT2004WalkingEngine Class Reference

Walking engine based on calculation of rectangular foot movement and inverse kinematics. More...

#include <GT2004WalkingEngine.h>

Inheritance diagram for GT2004WalkingEngine:

[legend]Collaboration diagram for GT2004WalkingEngine:

[legend]List of all members.


parameter set interpolation
void	initParametersInterpolation (int changeSteps)
	Initialize interpolation of WalkingParameterSets.
void	nextParametersInterpolation (bool walk)
	Calculate next step in parameterset interpolation and increase currentStep if walk is true.
GT2004Parameters *	currentParameters
	Points to parameter set currently in use.
GT2004Parameters	fixedParameters
	Fixed parameter set for InvKin compatibility.
GT2004Parameters *	parametersToChange
	Pointer to the parameter set that shall be changed by interpolation.
GT2004Parameters	nextParameters
	Next parameters of this walk, target of current interpolation.
GT2004Parameters	lastParameters
	Last parameters of this walk, origin of current interpolation.
int	paramInterpolCount
	Counts parameter set interpolation steps.
int	paramInterpolLength
	Stores the length of the current parameter set interpolation.
double	currentStepPercentage
	Stores precise version of currentStep for all kinds of interpolation.
Public Member Functions
	GT2004WalkingEngine (const WalkingEngineInterfaces &interfaces)
	Constructor.
	~GT2004WalkingEngine ()
	Destructor.
virtual bool	executeParameterized (JointData &jointData, const WalkRequest &walkRequest, double positionInWalkingCycle)
	Executes the engine.
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
void	setNextParameters (int steps)
	find correct table entry to update (in turnOnly and withWalk): find the entry most similar to nextParameters, copy the old value to lastParameters, set parametersToChange and start interpolation
Private Member Functions
void	init ()
	initialise fixed parameters
void	calculateParams ()
	calculate all engine wide parameters like neckHeight from currentParameters this is essential after every change in currentParameters!
void	smoothMotionRequest (const Pose2D &request, Pose2D &currentRequest)
	smooth motion request current request is adjusted according to motion request eliminating quick changes
void	calculateLegSpeeds ()
	calculates new leg speeds according to current motion request
void	calculateRelativeFootPosition (int step, int leg, double &rx, double &ry, double &rz)
	calculate relative foot position for one leg rx is relative to current step size (range -1.0..1.0) ry is an absolute offset to y foot position rz is relative to step lift parameter (range 0..1.0)
int	calculateLegJoints (Kinematics::LegIndex leg, double &j1, double &j2, double &j3, double bodyTilt=0)
	calculate angles for one leg in current step
void	calculateData (JointData &j)
	calculate current joint data values
void	calculateFootPositions ()
	calculate current foot positions
Private Attributes
GT2004ParametersSet	paramSet
	a set of GT2004Parameters optimized for different requests
bool	useFixedParameters
	decides whether we use merging of rotationOnly and withWalk or fixedParameters
bool	recalcEngineParameters
	true if stuff like legSpeed has to be recalculated because of changed request or parameterset
unsigned long	lastParametersFromPackageTimeStamp
double	neckHeight
	neck height in mm while walking
double	bodyTilt
	body tilt angle
Pose2D	currentRequest
	currently executed motion request speeds in mm/s
Pose2D	odometry
	odometry resulting from current request speed in mm/tick
fixed gait parameters resulting from merged parameter set
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
	time index for first time all feet are on ground
current walk values
Vector2< double >	legSpeed [4]
	speed of leg on ground (step size in mm)
Vector3< double >	footPos [4]
	foot positions

Detailed Description

Walking engine based on calculation of rectangular foot movement and inverse kinematics.

Author:: Uwe Dueffert

Definition at line 28 of file GT2004WalkingEngine.h.

Constructor & Destructor Documentation

GT2004WalkingEngine::GT2004WalkingEngine ( const WalkingEngineInterfaces & interfaces )

Constructor.

Parameters:

interfaces The paramters of the WalkingEngine module.

Definition at line 17 of file GT2004WalkingEngine.cpp.
References init().