class
SwingFootPlannerSwingFootPlanner implement a minimum jerk trajectory planner for the swing foot.
The planner is designed in SE(3) and we assume that initial 6d-acceleration and 6d-velocity of the foot is always equal to zero at take off. The trajectory of the foot will belong to the Geodesic.
Base classes
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template<class Output>class BipedalLocomotion::System::Source<SwingFootPlannerState>
- Source is a template specialization of Advanceable and represents a block that does not contains input.
Public functions
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auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool final - Initialize the planner.
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auto setContactList(const Contacts::
ContactList& contactList) -> bool - Set the contact list.
- void setTime(const std::chrono::nanoseconds& time)
- Reset the time.
- auto getOutput() const -> const SwingFootPlannerState& final
- Get the object.
- auto isOutputValid() const -> bool final
- Determines the validity of the object retrieved with get()
- auto advance() -> bool final
- Advance the internal state.
Function documentation
bool BipedalLocomotion:: Planners:: SwingFootPlanner:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) final
Initialize the planner.
Parameters | |
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handler | pointer to the parameter handler. |
Returns | True in case of success/false otherwise. |
bool BipedalLocomotion:: Planners:: SwingFootPlanner:: setContactList(const Contacts:: ContactList& contactList)
Set the contact list.
Parameters | |
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contactList | contains the list for a given contact. |
Returns | true in case of success, false otherwise. |
void BipedalLocomotion:: Planners:: SwingFootPlanner:: setTime(const std::chrono::nanoseconds& time)
Reset the time.
Parameters | |
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time | internal time of the system. |
const SwingFootPlannerState& BipedalLocomotion:: Planners:: SwingFootPlanner:: getOutput() const final
Get the object.
Returns | a const reference of the requested object. |
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bool BipedalLocomotion:: Planners:: SwingFootPlanner:: isOutputValid() const final
Determines the validity of the object retrieved with get()
Returns | True if the object is valid, false otherwise. |
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