JPosInitializer< T > Class Template Reference

#include <JPosInitializer.h>

Inheritance diagram for JPosInitializer< T >:

Collaboration diagram for JPosInitializer< T >:

Public Member Functions
	JPosInitializer (T end_time)
	~JPosInitializer ()
bool	IsInitialized (LegController< T > *)

Private Member Functions
void	_UpdateParam ()
void	_UpdateInitial (const LegController< T > *ctrl)

Private Attributes
bool	_b_first_visit
T	_end_time
T	_curr_time
T	_dt
std::vector< T >	_ini_jpos
std::vector< T >	_target_jpos
std::vector< T >	_mid_jpos
BS_Basic< T, cheetah::num_act_joint, 3, 1, 2, 2 >	_jpos_trj

Detailed Description

template<typename T>
class JPosInitializer< T >

Definition at line 9 of file JPosInitializer.h.

Constructor & Destructor Documentation

template<typename T>

JPosInitializer< T >::JPosInitializer

(

T

end_time

)

Definition at line 7 of file JPosInitializer.cpp.

References JPosInitializer< T >::_UpdateParam().

    : _b_first_visit(true),
      _end_time(end_time),
      _curr_time(0.),
      _dt(0.001),
      _ini_jpos(cheetah::num_act_joint) {
  _UpdateParam();
}

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template<typename T >

JPosInitializer< T >::~JPosInitializer

(

)

Definition at line 17 of file JPosInitializer.cpp.

{}

Member Function Documentation

template<typename T>

void JPosInitializer< T >::_UpdateInitial ( const LegController< T > *  ctrl )

private

Definition at line 48 of file JPosInitializer.cpp.

References JPosInitializer< T >::_end_time, JPosInitializer< T >::_ini_jpos, JPosInitializer< T >::_jpos_trj, JPosInitializer< T >::_mid_jpos, JPosInitializer< T >::_target_jpos, LegController< T >::datas, cheetah::num_act_joint, and BS_Basic< T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN >::SetParam().

                                                                    {
  T ini[3 * cheetah::num_act_joint];
  T fin[3 * cheetah::num_act_joint];
  T** mid = new T*[1];
  mid[0] = new T[cheetah::num_act_joint];

  for (size_t i(cheetah::num_act_joint); i < 3 * cheetah::num_act_joint; ++i) {
    ini[i] = 0.;
    fin[i] = 0.;
  }

  for (int leg(0); leg < 4; ++leg) {
    for (int jidx(0); jidx < 3; ++jidx) {
      ini[3 * leg + jidx] = ctrl->datas[leg].q[jidx];
      _ini_jpos[3 * leg + jidx] = ctrl->datas[leg].q[jidx];
    }
  }

  for (size_t i(0); i < cheetah::num_act_joint; ++i) {
    fin[i] = _target_jpos[i];
    mid[0][i] = _mid_jpos[i];
  }
  _jpos_trj.SetParam(ini, fin, mid, _end_time);

  delete[] mid[0];
  delete[] mid;
}

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template<typename T >

void JPosInitializer< T >::_UpdateParam ( )

private

Definition at line 77 of file JPosInitializer.cpp.

References JPosInitializer< T >::_mid_jpos, and JPosInitializer< T >::_target_jpos.

                                      {
  ParamHandler handler(THIS_COM "config/initial_jpos_ctrl.yaml");
  handler.getVector<T>("target_jpos", _target_jpos);
  handler.getVector<T>("mid_jpos", _mid_jpos);
}

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template<typename T>

bool JPosInitializer< T >::IsInitialized

(

LegController< T > *

ctrl

)

Definition at line 20 of file JPosInitializer.cpp.

References JPosInitializer< T >::_b_first_visit, JPosInitializer< T >::_curr_time, JPosInitializer< T >::_dt, JPosInitializer< T >::_end_time, JPosInitializer< T >::_jpos_trj, JPosInitializer< T >::_UpdateInitial(), LegController< T >::commands, BS_Basic< T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN >::getCurvePoint(), cheetah::num_act_joint, cheetah::num_leg, and cheetah::num_leg_joint.

                                                             {
  _curr_time += _dt;
  // Initial Setup
  if (_b_first_visit) {
    _UpdateInitial(ctrl);
    _b_first_visit = false;
  }
  
  // Smooth movement
  if (_curr_time < _end_time) {
    T jpos[cheetah::num_act_joint];
    _jpos_trj.getCurvePoint(_curr_time, jpos);

    // pretty_print(jpos, "jpos_cmd", cheetah::num_act_joint);

    for (size_t leg(0); leg < cheetah::num_leg; ++leg) {
      for (size_t jidx(0); jidx < cheetah::num_leg_joint; ++jidx) {
        ctrl->commands[leg].tauFeedForward[jidx] = 0.;
        ctrl->commands[leg].qDes[jidx] = jpos[3 * leg + jidx];
        ctrl->commands[leg].qdDes[jidx] = 0.;
      }
    }
    return false;
  }
  return true;
}

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Member Data Documentation

template<typename T>

bool JPosInitializer< T >::_b_first_visit

private

Definition at line 19 of file JPosInitializer.h.

template<typename T>

T JPosInitializer< T >::_curr_time

private

Definition at line 21 of file JPosInitializer.h.

template<typename T>

T JPosInitializer< T >::_dt

private

Definition at line 22 of file JPosInitializer.h.

template<typename T>

T JPosInitializer< T >::_end_time

private

Definition at line 20 of file JPosInitializer.h.

template<typename T>

std::vector<T> JPosInitializer< T >::_ini_jpos

private

Definition at line 24 of file JPosInitializer.h.

template<typename T>

BS_Basic<T, cheetah::num_act_joint, 3, 1, 2, 2> JPosInitializer< T >::_jpos_trj

private

Definition at line 28 of file JPosInitializer.h.

template<typename T>

std::vector<T> JPosInitializer< T >::_mid_jpos

private

Definition at line 26 of file JPosInitializer.h.

template<typename T>

std::vector<T> JPosInitializer< T >::_target_jpos

private

Definition at line 25 of file JPosInitializer.h.

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

• JPosInitializer.h
• JPosInitializer.cpp