Data struct that encompasses the abstract representation of a leg pose. More...

#include <gait_abstract_pose.h>

Public Member Functions
	AbstractLegPose (bool left=true)
	Default constructor.

void	reset (bool left=true)
	Reset function.

void	setPose (double ext, double angX, double angY, double angZ)
	Set the abstract pose (directly set the abstract pose parameters)

void	setPoseMirrored (double ext, double angX, double angY, double angZ)
	Set the abstract pose in mirror mode (directly set the abstract pose parameters if this is the left leg, or mirror the pose if this is the right leg)

void	setFootPose (double footAngX, double footAngY)
	Set the abstract foot pose (directly set the abstract foot pose parameters)

void	setFootPoseMirrored (double footAngX, double footAngY)
	Set the abstract foot pose in mirror mode (directly set the abstract foot pose parameters if this is the left leg, or mirror the pose if this is the right leg)

void	setLinkLength (double length)
	Set the link length used for pose conversions.

void	setFromJointPose (const JointLegPose &pose)
	Set the abstract leg pose to a given joint leg pose.

void	setFromInversePose (const InverseLegPose &pose)
	Set the abstract leg pose to a given inverse leg pose.

void	fromJointAngles (double hipYaw, double hipRoll, double hipPitch, double kneePitch, double anklePitch, double ankleRoll)
	Set the pose of the leg to the pose defined by the given joint angles.

void	getJointAngles (double &hipYaw, double &hipRoll, double &hipPitch, double &kneePitch, double &anklePitch, double &ankleRoll) const
	Calculate the joint angles corresponding to the current abstract leg pose.

Public Attributes
CommonLegData	cld
	Data that is shared by all leg pose representations.

double	extension
	Extension of the leg (in the range `[0,1]`, 0 = Fully extended, 1 = Fully contracted)

double	angleX
	Orientation angle of the leg axis about the positive x axis (2nd ZXY Euler angle)

double	angleY
	Orientation angle of the leg axis about the positive y axis (3rd ZXY Euler angle)

double	angleZ
	Orientation angle of the leg axis about the positive z axis (1st ZXY Euler angle)

double	footAngleX
	Global orientation angle of the foot about the positive x axis (more precisely, if all non-roll servo positions are zeroed then footAngleX is the pure roll rotation from the global frame to the foot frame)

double	footAngleY
	Global orientation angle of the foot about the positive y axis (more precisely, if all non-pitch servo positions are zeroed then footAngleY is the pure pitch rotation from the global frame to the foot frame)

Detailed Description

Data struct that encompasses the abstract representation of a leg pose.

The assumed joint order is hip yaw → hip roll → hip pitch → knee pitch → ankle pitch → ankle roll. The upper and lower leg links are assumed to be of the same length. The correct value of the link length must be set only if setFromInversePose() is used.

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

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/include/gait/util/gait_abstract_pose.h
/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/src/util/gait_abstract_pose.cpp

Public Member Functions

Public Attributes

Detailed Description