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InvKinWalkingParameters Class Reference

Parameters for InvKinWalkingEngine. More...

#include <InvKinWalkingParameters.h>

Inheritance diagram for InvKinWalkingParameters:

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Collaboration diagram for InvKinWalkingParameters:

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List of all members.

Public Types

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)
 Constructor.

 InvKinWalkingParameters (const GT2004Parameters &gt2004Param)
 Constructor.

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)
 copies the walking parameters without correctionValues

void init ()
 initialise fixed parameters

void readValues ()
 reads the correction values, neck height from odometry.cfg

bool allFeetOnGround (int currentStep)
 returns true when all feet are on ground


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
 while walking sideways a rotational speed is added to prevent unwanted rotation this factor is multiplied with y speed and added to rotation speed

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
 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

long headPan
 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

long headRoll
 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

long mouth
 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

double freeFormQuadPos [2][4][3]
 foot position coordinates for free form quad mode

bool leaveAnytime
 whether engine can be left anytime or only when all four feet are on ground#

double neckHeight
 neck height in mm while walking

double bodyTilt
 body tilt angle

double bodyTiltOffset
 parameter dependent body tilt offset

double maxStepSizeR
 maximal step size for rotation steps this is calculated from maximal step sizes

InvKinWalkingParameters::CorrectionValues correctionValues
 Factors to convert requested body speed to internal leg speed these values are read from odometry.cfg.

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
 time index for first time all feet are on ground

Detailed Description

Parameters for InvKinWalkingEngine.

Author:
Max Risler

Definition at line 26 of file InvKinWalkingParameters.h.

Member Enumeration Documentation

enum InvKinWalkingParameters::FootMode
 

Enumeration values:
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 init(), and readValues().

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InvKinWalkingParameters::InvKinWalkingParameters (  const GT2004Parameters &  gt2004Param  ) 
 

Constructor.

Definition at line 14 of file InvKinWalkingParameters.cpp.

References GT2004Parameters::correctedMotion, counterRotation, GT2004Parameters::footMode, GT2004Parameters::foreCenterX, GT2004Parameters::foreFootLift, GT2004Parameters::foreFootTilt, GT2004Parameters::foreHeight, GT2004Parameters::foreWidth, freeFormQuadPos, GT2004Parameters::groundPhase, GT2004Parameters::headPan, GT2004Parameters::headRoll, GT2004Parameters::headTilt, GT2004Parameters::hindCenterX, GT2004Parameters::hindFootLift, GT2004Parameters::hindFootTilt, GT2004Parameters::hindHeight, GT2004Parameters::hindWidth, GT2004Parameters::index, leaveAnytime, GT2004Parameters::legPhase, legSpeedFactorR, legSpeedFactorX, legSpeedFactorY, GT2004Parameters::liftPhase, GT2004Parameters::loweringPhase, maxRotationChange, maxSpeedXChange, maxSpeedYChange, maxStepSizeX, maxStepSizeY, GT2004Parameters::mouth, GT2004Parameters::stepLen, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Member Function Documentation

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]
 

Implements Individual.

Definition at line 251 of file InvKinWalkingParameters.h.

References counterRotation, legSpeedFactorR, legSpeedFactorX, legSpeedFactorY, max, maxRotationChange, maxSpeedXChange, maxSpeedYChange, maxStepSizeX, maxStepSizeY, and min.

virtual void InvKinWalkingParameters::setValue (  int  index1,
int  index2,
double  value
)  [inline, virtual]
 

Implements Individual.

Definition at line 320 of file InvKinWalkingParameters.h.

References counterRotation, legSpeedFactorR, legSpeedFactorX, legSpeedFactorY, maxRotationChange, maxSpeedXChange, maxSpeedYChange, maxStepSizeX, and maxStepSizeY.

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::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().

void InvKinWalkingParameters::init (   ) 
 

initialise fixed parameters

Definition at line 93 of file InvKinWalkingParameters.cpp.

References allFeetOnGround(), getRobotConfiguration(), leaveAnytime, maxStepSizeR, maxStepSizeX, and maxStepSizeY.

Referenced by InvKinWalkingParameters(), BB2004InvKinWalkingEngine::loadParameters(), InvKinWalkingEngine::nextParametersInterpolation(), and BB2004InvKinWalkingEngine::setParameters().

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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< InFile, InConfig >::eof(), InFile::exists(), InvKinWalkingParameters::CorrectionValues::forward, idText, maxStepSizeR, maxStepSizeX, maxStepSizeY, OUTPUT, InvKinWalkingParameters::CorrectionValues::rotationCenter, InvKinWalkingParameters::CorrectionValues::sideward, and InvKinWalkingParameters::CorrectionValues::turning.

Referenced by ParamInvKinWalkingEngine::handleMessage(), and InvKinWalkingParameters().

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bool InvKinWalkingParameters::allFeetOnGround (  int  currentStep  ) 
 

returns true when all feet are on ground

Definition at line 178 of file InvKinWalkingParameters.cpp.

References FORELEG.

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

Member Data Documentation

char InvKinWalkingParameters::name[100]
 

name of the parameter set

Definition at line 29 of file InvKinWalkingParameters.h.

Referenced by copyValuesFrom(), operator<<(), and operator>>().

FootMode InvKinWalkingParameters::footMode
 

how to move the feet

Definition at line 41 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

double InvKinWalkingParameters::foreHeight
 

fore walking height

Definition at line 43 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

double InvKinWalkingParameters::foreCenterX
 

fore x-axis foot center position

Definition at line 45 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

double InvKinWalkingParameters::hindHeight
 

hind walking height

Definition at line 47 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), operator>>(), and BB2004InvKinWalkingEngine::updateOdometry().

double InvKinWalkingParameters::hindCenterX
 

hind x-axis foot center position

Definition at line 49 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

double InvKinWalkingParameters::foreFootLift
 

height of lifted fore foots

Definition at line 51 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

double InvKinWalkingParameters::hindFootLift
 

height of lifted hind foots

Definition at line 52 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), operator<<(), operator>>(), and setValue().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), operator<<(), operator>>(), and setValue().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), operator<<(), operator>>(), and setValue().

double InvKinWalkingParameters::maxStepSizeX
 

maximum step size

Definition at line 62 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), copyValuesFrom(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), InvKinWalkingEngine::limitToMaxSpeed(), operator<<(), operator>>(), readValues(), BB2004InvKinWalkingEngine::setParameters(), and setValue().

double InvKinWalkingParameters::maxStepSizeY
 

Definition at line 63 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), copyValuesFrom(), BBInvKinIndividual::getParameters(), getValue(), GT2004Parameters::GT2004Parameters(), init(), interpolate(), InvKinWalkingParameters(), InvKinWalkingEngine::limitToMaxSpeed(), operator<<(), operator>>(), readValues(), BB2004InvKinWalkingEngine::setParameters(), and setValue().

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 copyValuesFrom(), getValue(), interpolate(), InvKinWalkingParameters(), operator<<(), operator>>(), setValue(), and InvKinWalkingEngine::smoothMotionRequest().

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 copyValuesFrom(), getValue(), interpolate(), InvKinWalkingParameters(), operator<<(), operator>>(), setValue(), and InvKinWalkingEngine::smoothMotionRequest().

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 copyValuesFrom(), getValue(), interpolate(), InvKinWalkingParameters(), operator<<(), operator>>(), setValue(), and InvKinWalkingEngine::smoothMotionRequest().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), getValue(), interpolate(), InvKinWalkingParameters(), operator<<(), operator>>(), and setValue().

int InvKinWalkingParameters::stepLen
 

number of ticks for one complete step

Definition at line 78 of file InvKinWalkingParameters.h.

Referenced by BBInvKinIndividual::BBInvKinIndividual(), InvKinWalkingEngine::calculateFootPositions(), InvKinWalkingEngine::calculateRelativeFootPosition(), copyValuesFrom(), InvKinWalkingEngine::executeParameterized(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), InvKinWalkingEngine::nextParametersInterpolation(), operator<<(), operator>>(), InvKinWalkingEngine::setParameters(), and BB2004InvKinWalkingEngine::updateOdometry().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), GT2004Parameters::GT2004Parameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), interpolate(), operator<<(), and operator>>().

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(), copyValuesFrom(), BBInvKinIndividual::getParameters(), interpolate(), operator<<(), and operator>>().

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(), and interpolate().

long InvKinWalkingParameters::headPan
 

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(), and interpolate().

long InvKinWalkingParameters::headRoll
 

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(), and interpolate().

long InvKinWalkingParameters::mouth
 

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(), and interpolate().

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().

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(), and BB2004InvKinWalkingEngine::setParameters().

int InvKinWalkingParameters::groundTime[2]
 

number of ticks foot is on ground

Definition at line 111 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition().

int InvKinWalkingParameters::liftTime[2]
 

number of ticks for lifting foot

Definition at line 112 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition().

int InvKinWalkingParameters::loweringTime[2]
 

number of ticks for lowering foot

Definition at line 113 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition().

int InvKinWalkingParameters::airTime[2]
 

number of ticks foot is in air

Definition at line 114 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition().

int InvKinWalkingParameters::stepLift[2]
 

time index for lifting foot

Definition at line 115 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition().

int InvKinWalkingParameters::stepAir[2]
 

time index when foot is fully lifted

Definition at line 116 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition().

int InvKinWalkingParameters::stepLower[2]
 

time index for lowering foot

Definition at line 117 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateRelativeFootPosition().

int InvKinWalkingParameters::legPhaseIndex[4]
 

leg phases, time indexes for lifting each leg

Definition at line 118 of file InvKinWalkingParameters.h.

Referenced by InvKinWalkingEngine::calculateFootPositions().

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(), and InvKinWalkingEngine::setParameters().

double InvKinWalkingParameters::neckHeight
 

neck height in mm while walking

Definition at line 123 of file InvKinWalkingParameters.h.

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

double InvKinWalkingParameters::bodyTilt
 

body tilt angle

Definition at line 126 of file InvKinWalkingParameters.h.

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

double InvKinWalkingParameters::bodyTiltOffset
 

parameter dependent body tilt offset

Definition at line 126 of file InvKinWalkingParameters.h.

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

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(), readValues(), and BB2004InvKinWalkingEngine::setParameters().

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(), readValues(), and BB2004InvKinWalkingEngine::setParameters().

The documentation for this class was generated from the following files:
Generated on Thu Sep 23 20:08:56 2004 for GT2004 by doxygen 1.3.6