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cap_gait::CapGait Class Reference

A capture step gait, implemented as a GaitEngine plugin for the Gait motion module. More...

#include <cap_gait.h>

Inheritance diagram for cap_gait::CapGait:
gait::GaitEngine

Public Member Functions

 CapGait ()
 Default constructor.
 
virtual void reset ()
 Reset the gait engine. More...
 
virtual void step ()
 Main step function of the gait engine. More...
 
virtual void updateHaltPose ()
 Update the halt pose desired by the gait engine. More...
 
virtual void setOdometry (double posX, double posY, double rotZ)
 Set the CoM odometry to a particular 2D position and orientation. More...
 
virtual void updateOdometry ()
 Force an update of the CoM odometry in terms of 3D position and orientation. More...
 
virtual void handleJoystickButton (int button)
 Notify the gait engine that a particular joystick button has been pressed and released by the user. More...
 
- Public Member Functions inherited from gait::GaitEngine
 GaitEngine ()
 Default constructor.
 
virtual ~GaitEngine ()
 Default destructor.
 

Additional Inherited Members

- Public Attributes inherited from gait::GaitEngine
GaitEngineInput in
 Gait engine input data struct.
 
GaitEngineOutput out
 Gait engine output data struct.
 
- Protected Member Functions inherited from gait::GaitEngine
void resetBase ()
 Reset the GaitEngine base class. More...
 
- Protected Attributes inherited from gait::GaitEngine
const robotcontrol::RobotModel * model
 Pointer to the RobotModel object to use for retrieving state information in each step. More...
 
double haltJointCmd [NUM_JOINTS]
 Commanded halt position for each joint (indexed by the JointID enum, in rad).
 
double haltJointEffort [NUM_JOINTS]
 Commanded halt joint effort (indexed by the JointID enum, in the range [0,1]).
 
bool haltUseRawJointCmds
 Apply the joint commands directly to the hardware in the halt pose, without using compensation or actuator controller(s) in-between.
 
const Gait * m_gait
 

Detailed Description

A capture step gait, implemented as a GaitEngine plugin for the Gait motion module.

Member Function Documentation

void CapGait::handleJoystickButton ( int  button)
virtual

Notify the gait engine that a particular joystick button has been pressed and released by the user.

This function should not attempt to access or write to the in and out members. button is the index of the button that was pressed, generally in the range 5 to 12. The buttons that are reserved for use by the gait (buttons 1-4) are not ever passed to this function.

Reimplemented from gait::GaitEngine.

void CapGait::reset ( )
virtual

Reset the gait engine.

This function is used by the Gait class, in conjunction with the resetBase() function, to reset the GaitEngine object in terms of both its derived and base components respectively. This function must be able to clean up and reset the gait engine instance, no matter what state it is currently in.

Reimplemented from gait::GaitEngine.

void CapGait::setOdometry ( double  posX,
double  posY,
double  rotZ 
)
virtual

Set the CoM odometry to a particular 2D position and orientation.

Specifies the required (x,y) position and yaw rotation for the CoM odometry. How exactly the yaw parameter is interpreted in the light of additional pitch and roll rotations is up to the implementation. It is recommended that the parameter is treated as fused yaw. Ideally, after calling this function the next retrieval of the robot odometry should reveal exactly posX and posY in the position vector (see GaitEngineOutput::odomPosition). If you override this function then you need to override updateOdometry too.

Reimplemented from gait::GaitEngine.

void CapGait::step ( )
virtual

Main step function of the gait engine.

The step function is called in every execution cycle that the gait is required to be active. The command inputs for the gait engine can be retrieved from the in class member, which ideally should only be read from, and the outputs of the gait engine should be written into the out class member. Ideally all members of the out struct should be written to from within the step() function, as the members may contain arbitrary values until written to. The latest robot state information can be read from the model class member, which is a const pointer to the required RobotModel object. The pointer is guaranteed to be valid before the step() function is called for the first time.

Reimplemented from gait::GaitEngine.

void CapGait::updateHaltPose ( )
virtual

Update the halt pose desired by the gait engine.

This function should update the halt pose of the gait engine if/as required. The halt pose is stored in three variables, namely haltJointCmd, haltJointEffort and haltUseRawJointCmds. This should be the robot pose from which the gait engine is nominally intended to be started and stopped from. The halt pose should normally be relatively constant during execution, but may for example depend on configuration parameters, and so is allowed to dynamically change.

This function is intended for use by the gait engine itself as well, such as for example at the beginning of the derived step() function override. Make no assumptions about when this function is called externally.

Reimplemented from gait::GaitEngine.

void CapGait::updateOdometry ( )
virtual

Force an update of the CoM odometry in terms of 3D position and orientation.

This function should update the GaitEngineOutput::odomPosition and GaitEngineOutput::odomOrientation members of the out member of the GaitEngine class. Most of the time these two data fields will already be up-to-date anyway, but after calling this function the caller should be able to take for granted that the odometry stored in out is up-to-date, and some valid value. The default implementation simply writes the last set odometry (setOdometry) into the fields.

Reimplemented from gait::GaitEngine.

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