class final
UnicyclePlanner
Base classes
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template<class _Input, class _Output>class BipedalLocomotion::System::Advanceable<UnicyclePlannerInput, UnicyclePlannerOutput>
- Basic class that represents a discrete system.
Constructors, destructors, conversion operators
- UnicyclePlanner()
- ~UnicyclePlanner() virtual
Public functions
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auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool override - Initialize the planner.
- auto getOutput() const -> const UnicyclePlannerOutput& override
- Get the output of the port.
- auto isOutputValid() const -> bool override
- Determines the validity of the object retrieved with getOutput()
- auto setInput(const UnicyclePlannerInput& input) -> bool override
- auto advance() -> bool override
- Advance the internal state.
Function documentation
bool BipedalLocomotion:: Planners:: UnicyclePlanner:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) override
Initialize the planner.
Parameters | |
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handler | Pointer to the parameter handler. |
Returns | True in case of success, false otherwise. |
Name | Type | Default | Mandatory | Description |
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sampling_time | double | - | Yes | The sampling time of the planner |
unicycleGain | double | 10.0 | No | The main gain of the unicycle controller |
slowWhenTurningGain | double | 0.0 | No | The turnin gain of the unicycle controller |
referencePosition | list of double | (0.10, 0.00) | No | The reference position of the unicycle controller |
timeWeight | double | 1.0 | No | The time weight of the OC problem |
positionWeight | double | 1.0 | No | The position weight of the OC problem |
minStepDuration | double | - | Yes | The minimum duration of a step |
maxStepDuration | double | - | Yes | The maximum duration of a step |
nominalDuration | double | - | Yes | The nominal duration of a step |
minStepLength | double | - | Yes | The minimum length of a step |
maxStepLength | double | - | Yes | The maximum length of a step |
minWidth | double | - | Yes | The minimum feet distance |
nominalWidth | double | - | Yes | The nominal feet distance |
minAngleVariation | double | - | Yes | The minimum unicycle rotation |
maxAngleVariation | double | - | Yes | The maximum unicycle rotation |
switchOverSwingRatio | double | - | Yes | The ratio between single and double support phases |
swingLeft | bool | false | No | Perform the first step with the left foot |
terminalStep | bool | true | No | Add a terminal step at the end of the horizon |
startAlwaysSameFoot | bool | false | No | Restart with the default foot if still |
left_foot_name | string | left | No | Name of the left foot |
right_foot_name | string | right | No | Name of the right foot |
const UnicyclePlannerOutput& BipedalLocomotion:: Planners:: UnicyclePlanner:: getOutput() const override
Get the output of the port.
Returns | a const reference of the requested object. |
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bool BipedalLocomotion:: Planners:: UnicyclePlanner:: isOutputValid() const override
Determines the validity of the object retrieved with getOutput()
Returns | True if the object is valid, false otherwise. |
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bool BipedalLocomotion:: Planners:: UnicyclePlanner:: advance() override
Advance the internal state.
Returns | True if the advance is successfull. |
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This may change the value retrievable from getOutput().