gait Namespace Reference

Contains all classes necessary for the generic gait motion module. More...

Classes
class	Gait
	Generic gait motion module that can execute a given GaitEngine. More...
struct	GaitCommand
	Gait command data structure. More...
class	GaitEngine
	Base implementation of a gait engine, made to work with the Gait motion module. More...
struct	GaitEngineInput
	Data struct for passing gait engine input data from the generic gait motion module to the gait engine that it manages. More...
struct	GaitEngineOutput
	Data struct for passing gait engine output data from the gait engine to the generic gait motion module that manages it. More...
struct	AbstractLegPose
	Data struct that encompasses the abstract representation of a leg pose. More...
struct	AbstractArmPose
	Data struct that encompasses the abstract representation of an arm pose. More...
struct	AbstractPose
	Data struct that encompasses the abstract representation of a robot pose. More...
struct	CommonLegData
	Data struct that contains the information pertaining to a leg pose that should be common amongst all pose representations. More...
struct	CommonArmData
	Data struct that contains the information pertaining to an arm pose that should be common amongst all pose representations. More...
struct	InverseLegPose
	Data struct that encompasses the inverse representation of a leg pose. More...
struct	InverseArmPose
	Data struct that encompasses the inverse representation of an arm pose. More...
struct	InversePose
	Data struct that encompasses the inverse representation of a robot pose. More...
struct	JointLegPose
	Data struct that encompasses the joint representation of a leg pose. More...
struct	JointArmPose
	Data struct that encompasses the joint representation of an arm pose. More...
struct	JointPose
	Data struct that encompasses the joint representation of a robot pose. More...

Enumerations
enum	JointID {   ARMS_BEGIN, LEFT_ARM_BEGIN = ARMS_BEGIN, L_SHOULDER_PITCH = LEFT_ARM_BEGIN, L_SHOULDER_ROLL,   L_ELBOW_PITCH, LEFT_ARM_END = L_ELBOW_PITCH, RIGHT_ARM_BEGIN, R_SHOULDER_PITCH = RIGHT_ARM_BEGIN,   R_SHOULDER_ROLL, R_ELBOW_PITCH, RIGHT_ARM_END = R_ELBOW_PITCH, ARMS_END = RIGHT_ARM_END,   LEGS_BEGIN, LEFT_LEG_BEGIN = LEGS_BEGIN, L_HIP_YAW = LEFT_LEG_BEGIN, L_HIP_ROLL,   L_HIP_PITCH, L_KNEE_PITCH, L_ANKLE_PITCH, L_ANKLE_ROLL,   LEFT_LEG_END = L_ANKLE_ROLL, RIGHT_LEG_BEGIN, R_HIP_YAW = RIGHT_LEG_BEGIN, R_HIP_ROLL,   R_HIP_PITCH, R_KNEE_PITCH, R_ANKLE_PITCH, R_ANKLE_ROLL,   RIGHT_LEG_END = R_ANKLE_ROLL, LEGS_END = RIGHT_LEG_END, NUM_JOINTS }
	ID list of joints used by the gait motion module.
enum	MotionID {   MID_NONE, MID_KICK_LEFT, MID_KICK_RIGHT, MID_DIVE_LEFT,   MID_DIVE_RIGHT, MID_DIVE_SIT, MID_COUNT }
	Enumeration of motion IDs that can be used in the GaitCommand::motion field to trigger motions through the gait.
enum	MotionStance { STANCE_DEFAULT, STANCE_KICK, STANCE_COUNT }
	Enumeration of motion stances that can be commanded to a gait engine.

Functions
void	resetGaitCommand (gait_msgs::GaitCommand &cmd)
	Reset a gait command to zero.

Variables
const std::string	jointName [NUM_JOINTS]
	List of names of the joints that are required by the gait motion module (indexed by the JointID enum) More...
const std::string	gaitOdomFrame = "/odom_gait"
	Name of the tf frame that is used for publishing the gait odometry.

Detailed Description

Contains all classes necessary for the generic gait motion module.

Variable Documentation

const std::string gait::jointName[NUM_JOINTS]

Initial value:

= {
        "left_shoulder_pitch",  
        "left_shoulder_roll",   
        "left_elbow_pitch",     
        
        "right_shoulder_pitch", 
        "right_shoulder_roll",  
        "right_elbow_pitch",    
        
        "left_hip_yaw",         
        "left_hip_roll",        
        "left_hip_pitch",       
        "left_knee_pitch",      
        "left_ankle_pitch",     
        "left_ankle_roll",      
        
        "right_hip_yaw",        
        "right_hip_roll",       
        "right_hip_pitch",      
        "right_knee_pitch",     
        "right_ankle_pitch",    
        "right_ankle_roll"      
    }

List of names of the joints that are required by the gait motion module (indexed by the JointID enum)