gait::InverseLegPose Struct Reference

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

#include <gait_inverse_pose.h>

Public Member Functions
	InverseLegPose (bool left=true)
	Default constructor.
void	reset (bool left=true)
	Reset function.
void	setPose (const Eigen::Vector3d &footPosition, const Eigen::Quaterniond &footRotation=Eigen::Quaterniond::Identity())
	Set the inverse pose (directly set the inverse pose parameters)
void	setPoseMirrored (const Eigen::Vector3d &footPosition, const Eigen::Quaterniond &footRotation=Eigen::Quaterniond::Identity())
	Set the inverse pose in mirror mode (directly set the inverse 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 inverse leg pose to a given joint leg pose.
void	setFromAbstractPose (const AbstractLegPose &pose)
	Set the inverse leg pose to a given abstract 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 inverse leg pose.

Public Attributes
CommonLegData	cld
	Data that is shared by all leg pose representations.
Eigen::Vector3d	footPos
	Position of the foot relative to its zero position (in body-fixed coordinates)
Eigen::Quaterniond	footRot
	Rotation of the foot relative to its zero position (relative to the body-fixed frame)

Detailed Description

Data struct that encompasses the inverse 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 the pose conversion functions are 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_inverse_pose.h
• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/src/util/gait_inverse_pose.cpp