gait::JointLegPose Struct Reference

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

#include <gait_joint_pose.h>

Public Member Functions
	JointLegPose (bool left=true)
	Default constructor.
void	reset (bool left=true)
	Reset function.
void	setPose (double hipYaw, double hipRoll, double hipPitch, double kneePitch, double anklePitch, double ankleRoll)
	Set the joint pose (directly set the joint pose parameters)
void	setPoseMirrored (double hipYaw, double hipRoll, double hipPitch, double kneePitch, double anklePitch, double ankleRoll)
	Set the joint pose in mirror mode (directly set the joint 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	setFromInversePose (const InverseLegPose &pose)
	Set the joint leg pose to a given inverse leg pose.
void	setFromAbstractPose (const AbstractLegPose &pose)
	Set the joint 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
	Retrieve the joint angles corresponding to the current joint leg pose.
void	blendTowards (const JointLegPose &other, double b)
	Blend this joint pose towards another one by a given blending factor (b: 0 = Pose remains unchanged, 1 = Pose becomes other, (0,1) = Blending by linear interpolation between this and other)

Public Attributes
CommonLegData	cld
	Data that is shared by all leg pose representations.
double	hipYaw
	The hip yaw joint position.
double	hipRoll
	The hip roll joint position.
double	hipPitch
	The hip pitch joint position.
double	kneePitch
	The knee pitch joint position.
double	anklePitch
	The ankle pitch joint position.
double	ankleRoll
	The ankle roll joint position.

Detailed Description

Data struct that encompasses the joint 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.

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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_joint_pose.h
• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/src/util/gait_joint_pose.cpp