#include <gait_controller.h>

Inheritance diagram for GaitController:

Collaboration diagram for GaitController:

Public Member Functions
	GaitController (int controller_freq, double gait_period, std::function< Eigen::Vector3d(double)> fl_traj, std::function< Eigen::Vector3d(double)> fr_traj, std::function< Eigen::Vector3d(double)> rl_traj, std::function< Eigen::Vector3d(double)> rr_traj)

void	increment ()

void	UpdateFeetReferences ()

Public Member Functions inherited from Controller
	Controller (int controller_freq)

virtual	~Controller ()

bool	RunStandUpSequence ()

void	waitForReadyToProceed ()

bool	UpdateJointCommands ()

bool	UpdateVelocityCommands ()

bool	sendJointPositionCommands ()

void	StandStill (const double &duration)

virtual void	setInitialConfiguration ()

void	SetTwistCommand (double lin_vel_cmd_x, double lin_vel_cmd_y, double ang_vel_cmd_z)

void	initROS ()

void	WaitForInitialState ()

bool	MoveFeetToPositions (Eigen::Matrix< double, 3, 1 > fl_goal_foot_pos, Eigen::Matrix< double, 3, 1 > fr_goal_foot_pos, Eigen::Matrix< double, 3, 1 > rl_goal_foot_pos, Eigen::Matrix< double, 3, 1 > rr_goal_foot_pos)

bool	MoveJointsToSetpoints (Eigen::Matrix< double, 12, 1 > goal_joint_angles)

bool	MoveFootToPosition (const Kinematics::LegType &leg_type, const Eigen::Matrix< double, 3, 1 > &goal_foot_position)

void	UpdateFeetPositions ()

bool	CheckReadyToProceed ()

void	ResetReadyToProceedFlag ()

void	SetReadyToProceedFlag ()

bool	ReadyToProceed (std_srvs::Empty::Request &_req, std_srvs::Empty::Response &_res)
	The ReadyToProceed function handles an incoming readyToProceed service request. More...

bool	Shutdown (std_srvs::Empty::Request &_req, std_srvs::Empty::Response &_res)
	The Shutdown function handles an incoming shutdown service request. More...

void	WriteToLog ()

Private Attributes
std::function< Eigen::Vector3d(double)>	fl_traj

std::function< Eigen::Vector3d(double)>	fr_traj

std::function< Eigen::Vector3d(double)>	rl_traj

std::function< Eigen::Vector3d(double)>	rr_traj

double	gait_period

int	iteration = 0

Additional Inherited Members
Protected Types inherited from Controller
using	JointState = Eigen::Matrix< double, 12, 1 >

Protected Member Functions inherited from Controller
void	jointStateCallback (const sensor_msgs::JointStatePtr &msg)

void	readyToProceedCallback (const std_msgs::Bool &msg)

void	TwistCommandCallback (const geometry_msgs::TwistConstPtr &_msg)
	Converts twist command messages into desired linear and angular body velocities. More...

void	TwistStateCallback (const geometry_msgs::TwistConstPtr &_msg)

void	BasePoseStateCallback (const std_msgs::Float64MultiArrayConstPtr &msg)

Protected Attributes inherited from Controller
std::string	node_name = "controller_node"

std::string	robot_name = ROBOT_NAME

int	controller_freq

Kinematics	kinematics

ros::NodeHandlePtr	nodeHandle

ros::Publisher	joint_command_publisher

ros::Subscriber	joint_state_subscriber

ros::Subscriber	base_pose_state_subscriber

ros::Subscriber	ready_to_proceed_subscriber

ros::Subscriber	twist_command_subscriber
	Subscribes to twist command messages from an external controller. More...

ros::Subscriber	twist_state_subscriber

Eigen::Vector3d	fl_offset = Eigen::Vector3d(LEG_OFFSET_LENGTH, LEG_OFFSET_LENGTH, 0)

Eigen::Vector3d	fr_offset = Eigen::Vector3d(LEG_OFFSET_LENGTH, -LEG_OFFSET_LENGTH, 0)

Eigen::Vector3d	rl_offset = Eigen::Vector3d(-LEG_OFFSET_LENGTH, LEG_OFFSET_LENGTH, 0)

Eigen::Vector3d	rr_offset = Eigen::Vector3d(-LEG_OFFSET_LENGTH, -LEG_OFFSET_LENGTH, 0)

Eigen::Vector3d	fl_position_body

Eigen::Vector3d	fr_position_body

Eigen::Vector3d	rl_position_body

Eigen::Vector3d	rr_position_body

Eigen::Vector3d	fl_velocity_body

Eigen::Vector3d	fr_velocity_body

Eigen::Vector3d	rl_velocity_body

Eigen::Vector3d	rr_velocity_body

Eigen::Vector3d	fl_acceleration_body

Eigen::Vector3d	fr_acceleration_body

Eigen::Vector3d	rl_acceleration_body

Eigen::Vector3d	rr_acceleration_body

JointState	joint_angle_commands = JointState::Zero()

JointState	joint_velocity_commands = JointState::Zero()

JointState	joint_acceleration_commands = JointState::Zero()

JointState	joint_torque_commands = JointState::Zero()

JointState	joint_angles = JointState::Constant(UNINITIALIZED_JOINT_STATE)

JointState	joint_velocities = JointState::Zero()

JointState	joint_torques = JointState::Zero()

Eigen::Matrix< double, 6, 1 >	base_pose_state = Eigen::Matrix<double, 6, 1>::Zero()

Eigen::Matrix< double, 6, 1 >	base_pose_commands = Eigen::Matrix<double, 6, 1>::Zero()

double	lin_vel_x = 0.0
	The desired linear robot velocity in the body frame's x direction. More...

double	lin_vel_y = 0.0
	The desired linear robot velocity in the body frame's y direction. More...

double	ang_vel_z = 0.0
	The desired angular robot velocity around the robot's z axis. More...

double	_lin_vel_x_estimated = 0.0

double	_lin_vel_y_estimated = 0.0

double	_ang_vel_z_estimated = 0.0

double	_lin_vel_z_measured = 0.0

double	_ang_vel_x_measured = 0.0

double	_ang_vel_y_measured = 0.0

double	nominal_base_height = 0.35

Detailed Description

Definition at line 5 of file gait_controller.h.

Constructor & Destructor Documentation

◆ GaitController()

GaitController::GaitController	(	int	controller_freq,
		double	gait_period,
		std::function< Eigen::Vector3d(double)>	fl_traj,
		std::function< Eigen::Vector3d(double)>	fr_traj,
		std::function< Eigen::Vector3d(double)>	rl_traj,
		std::function< Eigen::Vector3d(double)>	rr_traj
	)

Definition at line 3 of file gait_controller.cpp.

Member Function Documentation

◆ increment()

void GaitController::increment ( )

Definition at line 19 of file gait_controller.cpp.

◆ UpdateFeetReferences()

void GaitController::UpdateFeetReferences ( )

virtual

Implements Controller.

Definition at line 24 of file gait_controller.cpp.

Member Data Documentation

◆ fl_traj

std::function<Eigen::Vector3d(double)> GaitController::fl_traj

private

Definition at line 16 of file gait_controller.h.

◆ fr_traj

std::function<Eigen::Vector3d(double)> GaitController::fr_traj

private

Definition at line 18 of file gait_controller.h.

◆ rl_traj

std::function<Eigen::Vector3d(double)> GaitController::rl_traj

private

Definition at line 20 of file gait_controller.h.

◆ rr_traj

std::function<Eigen::Vector3d(double)> GaitController::rr_traj

private

Definition at line 22 of file gait_controller.h.

◆ gait_period

double GaitController::gait_period

private

Definition at line 24 of file gait_controller.h.

◆ iteration

int GaitController::iteration = 0

private

Definition at line 26 of file gait_controller.h.

The documentation for this class was generated from the following files:

catkin_ws/src/control/modular_gait_controller/include/modular_gait_controller/gait_controller.h
catkin_ws/src/control/modular_gait_controller/src/gait_controller.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GaitController()

Member Function Documentation

◆ increment()

◆ UpdateFeetReferences()

Member Data Documentation

◆ fl_traj

◆ fr_traj

◆ rl_traj

◆ rr_traj

◆ gait_period

◆ iteration