GaitData< T > Struct Template Reference

#include <GaitScheduler.h>

Collaboration diagram for GaitData< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GaitData ()
void	zero ()

Public Attributes
GaitType	_currentGait
GaitType	_nextGait
std::string	gaitName
T	periodTimeNominal
T	initialPhase
T	switchingPhaseNominal
Eigen::Vector4i	gaitEnabled
Vec4< T >	periodTime
Vec4< T >	timeStance
Vec4< T >	timeSwing
Vec4< T >	timeStanceRemaining
Vec4< T >	timeSwingRemaining
Vec4< T >	switchingPhase
Vec4< T >	phaseVariable
Vec4< T >	phaseOffset
Vec4< T >	phaseScale
Vec4< T >	phaseStance
Vec4< T >	phaseSwing
Eigen::Vector4i	contactStateScheduled
Eigen::Vector4i	contactStatePrev
Eigen::Vector4i	touchdownScheduled
Eigen::Vector4i	liftoffScheduled
Mat34< T >	posFootLiftoffWorld
Mat34< T >	posFootTouchdownWorld

Detailed Description

template<typename T>
struct GaitData< T >

Definition at line 33 of file GaitScheduler.h.

Constructor & Destructor Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW GaitData< T >::GaitData ( )

inline

Definition at line 35 of file GaitScheduler.h.

{ zero(); }

Member Function Documentation

template<typename T >

void GaitData< T >::zero

(

)

Definition at line 13 of file GaitScheduler.cpp.

                       {
  // Stop any gait transitions
  _nextGait = _currentGait;

  // General Gait descriptors
  periodTimeNominal = 0.0;      // overall period time to scale
  initialPhase = 0.0;           // initial phase to offset
  switchingPhaseNominal = 0.0;  // nominal phase to switch contacts

  // Enable flag for each foot
  gaitEnabled = Eigen::Vector4i::Zero();  // enable gaint controlled legs

  // Time based descriptors
  periodTime = Vec4<T>::Zero();           // overall gait period time
  timeStance = Vec4<T>::Zero();           // total stance time
  timeSwing = Vec4<T>::Zero();            // total swing time
  timeStanceRemaining = Vec4<T>::Zero();  // stance time remaining
  timeSwingRemaining = Vec4<T>::Zero();   // swing time remaining

  // Phase based descriptors
  switchingPhase = Vec4<T>::Zero();  // phase to switch to swing
  phaseVariable = Vec4<T>::Zero();   // overall gait phase for each foot
  phaseOffset = Vec4<T>::Zero();     // nominal gait phase offsets
  phaseScale = Vec4<T>::Zero();      // phase scale relative to variable
  phaseStance = Vec4<T>::Zero();     // stance subphase
  phaseSwing = Vec4<T>::Zero();      // swing subphase

  // Scheduled contact states
  contactStateScheduled = Eigen::Vector4i::Zero();  // contact state of the foot
  contactStatePrev =
      Eigen::Vector4i::Zero();  // previous contact state of the foot
  touchdownScheduled = Eigen::Vector4i::Zero();  // scheduled touchdown flag
  liftoffScheduled = Eigen::Vector4i::Zero();    // scheduled liftoff flag

  // Position of the feet in the world frame at events
  posFootTouchdownWorld =
      Mat34<T>::Zero();  // foot position when scheduled to lift off
  posFootLiftoffWorld =
      Mat34<T>::Zero();  // foot position when scheduled to touchdown
}

Member Data Documentation

template<typename T>

GaitType GaitData< T >::_currentGait

Definition at line 41 of file GaitScheduler.h.

template<typename T>

GaitType GaitData< T >::_nextGait

Definition at line 44 of file GaitScheduler.h.

template<typename T>

Eigen::Vector4i GaitData< T >::contactStatePrev

Definition at line 74 of file GaitScheduler.h.

template<typename T>

Eigen::Vector4i GaitData< T >::contactStateScheduled

Definition at line 73 of file GaitScheduler.h.

template<typename T>

Eigen::Vector4i GaitData< T >::gaitEnabled

Definition at line 55 of file GaitScheduler.h.

template<typename T>

std::string GaitData< T >::gaitName

Definition at line 47 of file GaitScheduler.h.

template<typename T>

T GaitData< T >::initialPhase

Definition at line 51 of file GaitScheduler.h.

template<typename T>

Eigen::Vector4i GaitData< T >::liftoffScheduled

Definition at line 76 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::periodTime

Definition at line 58 of file GaitScheduler.h.

template<typename T>

T GaitData< T >::periodTimeNominal

Definition at line 50 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::phaseOffset

Definition at line 67 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::phaseScale

Definition at line 68 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::phaseStance

Definition at line 69 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::phaseSwing

Definition at line 70 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::phaseVariable

Definition at line 66 of file GaitScheduler.h.

template<typename T>

Mat34<T> GaitData< T >::posFootLiftoffWorld

Definition at line 79 of file GaitScheduler.h.

template<typename T>

Mat34<T> GaitData< T >::posFootTouchdownWorld

Definition at line 80 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::switchingPhase

Definition at line 65 of file GaitScheduler.h.

template<typename T>

T GaitData< T >::switchingPhaseNominal

Definition at line 52 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::timeStance

Definition at line 59 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::timeStanceRemaining

Definition at line 61 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::timeSwing

Definition at line 60 of file GaitScheduler.h.

template<typename T>

Vec4<T> GaitData< T >::timeSwingRemaining

Definition at line 62 of file GaitScheduler.h.

template<typename T>

Eigen::Vector4i GaitData< T >::touchdownScheduled

Definition at line 75 of file GaitScheduler.h.

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

• GaitScheduler.h
• GaitScheduler.cpp