UnicycleUtilities.h file
Namespaces
- namespace BipedalLocomotion
- namespace BipedalLocomotion::Planners
- namespace BipedalLocomotion::Planners::UnicycleUtilities
- namespace BipedalLocomotion::Planners::UnicycleUtilities::Conversions
Functions
-
auto getContactList(const std::chrono::nanoseconds& initTime,
const std::chrono::nanoseconds& dt,
const std::vector<bool>& inContact,
const std::deque<Step>& steps,
const int& contactFrameIndex,
const std::string& contactName,
BipedalLocomotion::
Contacts:: ContactList& contactList) -> bool - It populates the contact list.
- void mergeSteps(const std::deque<Step>& newSteps, std::deque<Step>& currentSteps, const std::chrono::nanoseconds& currentTime)
- Merge two steps sequences, and stores the merged output in the second one.
-
template<typename T>auto appendVectorToDeque(const std::vector<T>& input, std::deque<T>& output, const size_t& initPoint) -> bool
- It appends a vector to a deque.
-
template<typename T>void populateVectorFromDeque(const std::deque<T>& deque, std::vector<T>& vector)
- It populates a vector from a deque.
- void convertToBLF(const iDynTree::Transform& input, manif::SE3d& output)
- void convertToBLF(const iDynTree::Twist& input, manif::SE3d::Tangent& output)
- void convertToBLF(const iDynTree::VectorDynSize& input, Eigen::VectorXd& output)
- void convertToBLF(const iDynTree::Vector2& input, Eigen::Vector2d& output)
- void convertToBLF(const iDynTree::Vector3& input, Eigen::Vector3d& output)
-
template<typename From, typename To>void convertVector(const std::vector<From>& inputVect, std::vector<To>& outputVect)
Function documentation
bool getContactList(const std::chrono::nanoseconds& initTime,
const std::chrono::nanoseconds& dt,
const std::vector<bool>& inContact,
const std::deque<Step>& steps,
const int& contactFrameIndex,
const std::string& contactName,
BipedalLocomotion::
It populates the contact list.
| Parameters | |
|---|---|
| initTime | the initial time of the trajectory. |
| dt | the time step. |
| inContact | a vector containing the contact status. |
| steps | a deque containing the steps. |
| contactFrameIndex | the index of the contact frame. |
| contactName | the name of the contact. |
| contactList | the contact list to be populated. It should be empty or contain only the first step (i.e., the current one already in contact at time initTime). |
void mergeSteps(const std::deque<Step>& newSteps, std::deque<Step>& currentSteps, const std::chrono::nanoseconds& currentTime)
Merge two steps sequences, and stores the merged output in the second one.
| Parameters | |
|---|---|
| newSteps | the new list of steps. |
| currentSteps | the cuurent list of steps. |
| currentTime | the current time. |
The new steps which has an impact time lower than the current time are discarded.
template<typename T>
bool appendVectorToDeque(const std::vector<T>& input,
std::deque<T>& output,
const size_t& initPoint)
It appends a vector to a deque.
| Parameters | |
|---|---|
| input | the input vector. |
| output | the output deque. |
| initPoint | the initial point where the vector has to be appended. |
| Returns | true if the operation is successful, false otherwise. |
template<typename T>
void populateVectorFromDeque(const std::deque<T>& deque,
std::vector<T>& vector)
It populates a vector from a deque.
| Parameters | |
|---|---|
| deque | the input deque. |
| vector | the output vector. |