footstep Class Reference

Defines a footstep. More...

#include <footstep.h>

Inheritance diagram for footstep:

List of all members.

Public Member Functions
	footstep (const double, const Transform< double, 3 > &, const Vector3d &, const unsigned int, const fs_type, const double *)
	Defines a footstep at a given position with a given orientation.
	footstep (const footstep &)
	A copy constructor.
	~footstep ()
	Destructor.
void	changePosture (const double *, const bool)
	Correct position of the footstep.
double	x ()
double	y ()
Public Attributes
double	angle
	Angle (relative to the world frame) of a footstep [rad.].
double	ca
	cos(angle).
double	sa
	sin(angle).
unsigned int	time_period
	the period of time spent in this support
unsigned int	time_left
	the amount of time left in this support (=time_period on initialization)
fs_type	type
	type of the step.
Vector3d	ZMPref
	Reference ZMP point.
Transform< double, 3 > *	posture

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Detailed Description

Defines a footstep.

Definition at line 29 of file footstep.h.

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Constructor & Destructor Documentation

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

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

Parameters:

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

Definition at line 32 of file footstep.cpp.

footstep::footstep

(

const footstep &

copy_from

)

A copy constructor.

Parameters:

[in]

copy_from

original class instance

Definition at line 57 of file footstep.cpp.

footstep::~footstep

(

)

Destructor.

Definition at line 75 of file footstep.cpp.

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Member Function Documentation

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

Correct position of the footstep.

Parameters:

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

Definition at line 106 of file footstep.cpp.

double footstep::x

(

)

Returns:

x coordinate

Definition at line 84 of file footstep.cpp.

double footstep::y

(

)

Returns:

y coordinate

Definition at line 93 of file footstep.cpp.

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Member Data Documentation

double footstep::angle

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

Definition at line 49 of file footstep.h.

double footstep::ca

cos(angle).

Definition at line 52 of file footstep.h.

Transform<double, 3>* footstep::posture

Definition at line 70 of file footstep.h.

double footstep::sa

sin(angle).

Definition at line 55 of file footstep.h.

unsigned int footstep::time_left

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

Definition at line 61 of file footstep.h.

unsigned int footstep::time_period

the period of time spent in this support

Definition at line 58 of file footstep.h.

fs_type footstep::type

type of the step.

Definition at line 64 of file footstep.h.

Vector3d footstep::ZMPref

Reference ZMP point.

Definition at line 67 of file footstep.h.

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

• WMG/footstep.h
• WMG/footstep.cpp