BipedalLocomotion::Planners::UnicyclePlanner class final
#include <BipedalLocomotion/Planners/UnicyclePlanner.h>

Base classes

template<class _Input, class _Output> class BipedalLocomotion::System::Advanceable<UnicyclePlannerInput, UnicyclePlannerOutput>: Basic class that represents a discrete system.

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.

Initialize the planner.

Parameters
handler	Pointer to the parameter handler.
Returns	True in case of success, false otherwise.

Name	Type	Default	Mandatory	Description
`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

Get the output of the port.

Returns	a const reference of the requested object.

Determines the validity of the object retrieved with getOutput()

Returns	True if the object is valid, false otherwise.

Advance the internal state.

Returns	True if the advance is successfull.

This may change the value retrievable from getOutput().