FootSwingTrajectory< T > Class Template Reference

#include <FootSwingTrajectory.h>

Collaboration diagram for FootSwingTrajectory< T >:

Public Member Functions
	FootSwingTrajectory ()
void	setInitialPosition (Vec3< T > p0)
void	setFinalPosition (Vec3< T > pf)
void	setHeight (T h)
void	computeSwingTrajectoryBezier (T phase, T swingTime)
Vec3< T >	getPosition ()
Vec3< T >	getVelocity ()
Vec3< T >	getAcceleration ()

Private Attributes
Vec3< T >	_p0
Vec3< T >	_pf
Vec3< T >	_p
Vec3< T >	_v
Vec3< T >	_a
T	_height

Detailed Description

template<typename T>
class FootSwingTrajectory< T >

Definition at line 12 of file FootSwingTrajectory.h.

Constructor & Destructor Documentation

template<typename T>

FootSwingTrajectory< T >::FootSwingTrajectory ( )

inline

Definition at line 14 of file FootSwingTrajectory.h.

References FootSwingTrajectory< T >::_a, FootSwingTrajectory< T >::_height, FootSwingTrajectory< T >::_p, FootSwingTrajectory< T >::_p0, FootSwingTrajectory< T >::_pf, and FootSwingTrajectory< T >::_v.

                        {
    _p0.setZero();
    _pf.setZero();
    _p.setZero();
    _v.setZero();
    _a.setZero();
    _height = 0;
  }

Member Function Documentation

template<typename T >

void FootSwingTrajectory< T >::computeSwingTrajectoryBezier	(	T	phase,
		T	swingTime
	)

Compute foot swing trajectory with a bezier curve

Template Parameters

T

Parameters

phase
swingTime

Definition at line 11 of file FootSwingTrajectory.cpp.

                                                                              {
  _p = Interpolate::cubicBezier<Vec3<T>>(_p0, _pf, phase);
  _v = Interpolate::cubicBezierFirstDerivative<Vec3<T>>(_p0, _pf, phase) / swingTime;
  _a = Interpolate::cubicBezierSecondDerivative<Vec3<T>>(_p0, _pf, phase) / (swingTime * swingTime);

  T zp, zv, za;

  if(phase < T(0.5)) {
    zp = Interpolate::cubicBezier<T>(_p0[2], _p0[2] + _height, phase * 2);
    zv = Interpolate::cubicBezierFirstDerivative<T>(_p0[2], _p0[2] + _height, phase * 2) * 2 / swingTime;
    za = Interpolate::cubicBezierSecondDerivative<T>(_p0[2], _p0[2] + _height, phase * 2) * 4 / (swingTime * swingTime);
  } else {
    zp = Interpolate::cubicBezier<T>(_p0[2] + _height, _pf[2], phase * 2 - 1);
    zv = Interpolate::cubicBezierFirstDerivative<T>(_p0[2] + _height, _pf[2], phase * 2 - 1) * 2 / swingTime;
    za = Interpolate::cubicBezierSecondDerivative<T>(_p0[2] + _height, _pf[2], phase * 2 - 1) * 4 / (swingTime * swingTime);
  }

  _p[2] = zp;
  _v[2] = zv;
  _a[2] = za;
}

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template<typename T>

Vec3<T> FootSwingTrajectory< T >::getAcceleration ( )

inline

Definition at line 45 of file FootSwingTrajectory.h.

References FootSwingTrajectory< T >::_a.

                            {
    return _a;
  }

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template<typename T>

Vec3<T> FootSwingTrajectory< T >::getPosition ( )

inline

Definition at line 37 of file FootSwingTrajectory.h.

References FootSwingTrajectory< T >::_p.

                        {
    return _p;
  }

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template<typename T>

Vec3<T> FootSwingTrajectory< T >::getVelocity ( )

inline

Definition at line 41 of file FootSwingTrajectory.h.

References FootSwingTrajectory< T >::_v.

                        {
    return _v;
  }

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template<typename T>

void FootSwingTrajectory< T >::setFinalPosition ( Vec3< T >  pf )

inline

Definition at line 27 of file FootSwingTrajectory.h.

References FootSwingTrajectory< T >::_pf.

                                    {
    _pf = pf;
  }

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template<typename T>

void FootSwingTrajectory< T >::setHeight ( T  h )

inline

Definition at line 31 of file FootSwingTrajectory.h.

References FootSwingTrajectory< T >::_height, and FootSwingTrajectory< T >::computeSwingTrajectoryBezier().

                      {
    _height = h;
  }

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template<typename T>

void FootSwingTrajectory< T >::setInitialPosition ( Vec3< T >  p0 )

inline

Definition at line 23 of file FootSwingTrajectory.h.

References FootSwingTrajectory< T >::_p0.

                                      {
    _p0 = p0;
  }

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Member Data Documentation

template<typename T>

Vec3<T> FootSwingTrajectory< T >::_a

private

Definition at line 50 of file FootSwingTrajectory.h.

template<typename T>

T FootSwingTrajectory< T >::_height

private

Definition at line 51 of file FootSwingTrajectory.h.

template<typename T>

Vec3<T> FootSwingTrajectory< T >::_p

private

Definition at line 50 of file FootSwingTrajectory.h.

template<typename T>

Vec3<T> FootSwingTrajectory< T >::_p0

private

Definition at line 50 of file FootSwingTrajectory.h.

template<typename T>

Vec3<T> FootSwingTrajectory< T >::_pf

private

Definition at line 50 of file FootSwingTrajectory.h.

template<typename T>

Vec3<T> FootSwingTrajectory< T >::_v

private

Definition at line 50 of file FootSwingTrajectory.h.

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

• FootSwingTrajectory.h
• FootSwingTrajectory.cpp