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| | RobotController (int controller_freq, double gait_period) |
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| void | UpdateGuidanceCommands () |
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| void | UpdateNonGuidanceCommands () |
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| void | UpdateStepDistances () |
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| bool | UpdateGaitState () |
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| void | UpdateFeetReferences () |
| | A function updating the foot positions of the robot in the hip frames. More...
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| void | UpdateFeetTrajectories () |
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| void | UpdateFeetReferencesPoseControl () |
| | A pose controller updating robot's foot positions to control its pose. More...
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| void | UpdateFeetReferencesGaitControl () |
| | A gait controller updating the robot's foot positions to walk. More...
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| void | SetFeetPositionsGoalPose () |
| | A function that sets the goal positions as the targets to reach eventually. More...
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| Eigen::Matrix< double, 3, 1 > | UpdateStanceFootPosition (Kinematics::LegType _leg_type, double _progress) |
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| Eigen::Matrix< double, 3, 1 > | UpdateSwingFootPosition (Kinematics::LegType _leg_type, double _progress) |
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| void | UpdateSwingFootTrajectory (Kinematics::LegType _leg_type, double progress) |
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| void | PrintParameters () |
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| void | PrintFootPositions () |
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| void | PrintVelCommands () |
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| | Controller (int controller_freq) |
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| virtual | ~Controller () |
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| bool | RunStandUpSequence () |
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| void | waitForReadyToProceed () |
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| bool | UpdateJointCommands () |
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| bool | UpdateVelocityCommands () |
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| bool | sendJointPositionCommands () |
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| void | StandStill (const double &duration) |
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| virtual void | setInitialConfiguration () |
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| void | SetTwistCommand (double lin_vel_cmd_x, double lin_vel_cmd_y, double ang_vel_cmd_z) |
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| void | initROS () |
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| void | WaitForInitialState () |
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| 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) |
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| bool | MoveJointsToSetpoints (Eigen::Matrix< double, 12, 1 > goal_joint_angles) |
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| bool | MoveFootToPosition (const Kinematics::LegType &leg_type, const Eigen::Matrix< double, 3, 1 > &goal_foot_position) |
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| void | UpdateFeetPositions () |
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| bool | CheckReadyToProceed () |
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| void | ResetReadyToProceedFlag () |
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| void | SetReadyToProceedFlag () |
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| bool | ReadyToProceed (std_srvs::Empty::Request &_req, std_srvs::Empty::Response &_res) |
| | The ReadyToProceed function handles an incoming readyToProceed service request. More...
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| bool | Shutdown (std_srvs::Empty::Request &_req, std_srvs::Empty::Response &_res) |
| | The Shutdown function handles an incoming shutdown service request. More...
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| void | WriteToLog () |
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| SuperState | super_state = SuperState::kIdle |
| | The main state of the robot deciding whether the robot is walking or not. More...
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| MotionState | motion_state = MotionState::kStancePreSwingFlRr |
| | A variable deciding which of the four motion states we are currently in. More...
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| Eigen::Matrix< double, 3, 1 > | fl_goal_position |
| | The front left foot target position in the hip frame when using pose control. More...
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| Eigen::Matrix< double, 3, 1 > | fr_goal_position |
| | The front right foot target position in the hip frame when using pose control. More...
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| Eigen::Matrix< double, 3, 1 > | rl_goal_position |
| | The rear left foot target position in the hip frame when using pose control. More...
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| Eigen::Matrix< double, 3, 1 > | rr_goal_position |
| | The rear right foot target position in the hip frame when using pose control. More...
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| Eigen::Matrix< double, 12, 1 > | initial_feet_positions_pose_control |
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| double | hip_height = 0.35 |
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| double | step_distance_x_linear = 0.0 |
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| double | step_distance_y_linear = 0.0 |
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| double | step_distance_x_rotational = 0.0 |
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| double | step_distance_y_rotational = 0.0 |
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| double | gait_duration = 0.0 |
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| double | vel_x = 0.0 |
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| double | vel_y = 0.0 |
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| double | yaw_rate = 0.0 |
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| int | iteration = 0 |
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| double | max_step_height = 0.1 |
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| double | stance_phase_duration_percentage = 0.1 |
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| double | swing_rise_percentage = 0.3 |
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| double | swing_period |
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| double | stance_period |
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| int | swing_iterations |
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| int | stance_iterations |
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| int | final_iteration |
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| double | fl_step_distance_x |
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| double | fl_step_distance_y |
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| double | fr_step_distance_x |
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| double | fr_step_distance_y |
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| double | rl_step_distance_x |
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| double | rl_step_distance_y |
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| double | rr_step_distance_x |
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| double | rr_step_distance_y |
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| double | _lin_vel_x_command |
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| double | _lin_vel_y_command |
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| double | _ang_vel_z_command |
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| double | _guidance_lin_vel_gain = 1.0 |
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| double | _guidance_ang_vel_gain = 1.0 |
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| using | JointState = Eigen::Matrix< double, 12, 1 > |
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| void | jointStateCallback (const sensor_msgs::JointStatePtr &msg) |
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| void | readyToProceedCallback (const std_msgs::Bool &msg) |
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| void | TwistCommandCallback (const geometry_msgs::TwistConstPtr &_msg) |
| | Converts twist command messages into desired linear and angular body velocities. More...
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| void | TwistStateCallback (const geometry_msgs::TwistConstPtr &_msg) |
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| void | BasePoseStateCallback (const std_msgs::Float64MultiArrayConstPtr &msg) |
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| std::string | node_name = "controller_node" |
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| std::string | robot_name = ROBOT_NAME |
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| int | controller_freq |
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| Kinematics | kinematics |
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| ros::NodeHandlePtr | nodeHandle |
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| ros::Publisher | joint_command_publisher |
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| ros::Subscriber | joint_state_subscriber |
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| ros::Subscriber | base_pose_state_subscriber |
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| ros::Subscriber | ready_to_proceed_subscriber |
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| ros::Subscriber | twist_command_subscriber |
| | Subscribes to twist command messages from an external controller. More...
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| ros::Subscriber | twist_state_subscriber |
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| Eigen::Vector3d | fl_offset = Eigen::Vector3d(LEG_OFFSET_LENGTH, LEG_OFFSET_LENGTH, 0) |
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| Eigen::Vector3d | fr_offset = Eigen::Vector3d(LEG_OFFSET_LENGTH, -LEG_OFFSET_LENGTH, 0) |
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| Eigen::Vector3d | rl_offset = Eigen::Vector3d(-LEG_OFFSET_LENGTH, LEG_OFFSET_LENGTH, 0) |
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| Eigen::Vector3d | rr_offset = Eigen::Vector3d(-LEG_OFFSET_LENGTH, -LEG_OFFSET_LENGTH, 0) |
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| Eigen::Vector3d | fl_position_body |
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| Eigen::Vector3d | fr_position_body |
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| Eigen::Vector3d | rl_position_body |
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| Eigen::Vector3d | rr_position_body |
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| Eigen::Vector3d | fl_velocity_body |
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| Eigen::Vector3d | fr_velocity_body |
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| Eigen::Vector3d | rl_velocity_body |
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| Eigen::Vector3d | rr_velocity_body |
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| Eigen::Vector3d | fl_acceleration_body |
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| Eigen::Vector3d | fr_acceleration_body |
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| Eigen::Vector3d | rl_acceleration_body |
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| Eigen::Vector3d | rr_acceleration_body |
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| JointState | joint_angle_commands = JointState::Zero() |
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| JointState | joint_velocity_commands = JointState::Zero() |
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| JointState | joint_acceleration_commands = JointState::Zero() |
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| JointState | joint_torque_commands = JointState::Zero() |
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| JointState | joint_angles = JointState::Constant(UNINITIALIZED_JOINT_STATE) |
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| JointState | joint_velocities = JointState::Zero() |
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| JointState | joint_torques = JointState::Zero() |
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| Eigen::Matrix< double, 6, 1 > | base_pose_state = Eigen::Matrix<double, 6, 1>::Zero() |
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| Eigen::Matrix< double, 6, 1 > | base_pose_commands = Eigen::Matrix<double, 6, 1>::Zero() |
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| double | lin_vel_x = 0.0 |
| | The desired linear robot velocity in the body frame's x direction. More...
|
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| double | lin_vel_y = 0.0 |
| | The desired linear robot velocity in the body frame's y direction. More...
|
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| double | ang_vel_z = 0.0 |
| | The desired angular robot velocity around the robot's z axis. More...
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| double | _lin_vel_x_estimated = 0.0 |
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| double | _lin_vel_y_estimated = 0.0 |
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| double | _ang_vel_z_estimated = 0.0 |
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| double | _lin_vel_z_measured = 0.0 |
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| double | _ang_vel_x_measured = 0.0 |
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| double | _ang_vel_y_measured = 0.0 |
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| double | nominal_base_height = 0.35 |
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Definition at line 7 of file robot_controller.h.
Public Member Functions inherited from Controller
1.9.1