gaits.cpp File Reference

#include "modular_gait_controller/gait_controller.h"
#include "modular_gait_controller/gaits.h"
#include <list>
#include <iostream>

Include dependency graph for gaits.cpp:

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Functions
Eigen::Vector3d	mirrorOffset (Eigen::Vector3d offset, Kinematics::LegType leg)
Eigen::Vector3d	classicGait (double t, Kinematics::LegType leg)
double	smallestPositiveRoot (Eigen::Matrix< double, Eigen::Dynamic, 1 > coeffs)
double	polynomialSpine (double t, double t_tot, double d_tot, double a_max, double v_rob)
void	CalculatePolynomialTrajectory (double t, double swing_period, double rise_percentage, double distance, double vel_cmd, double &_pos, double &_vel, double &_acc, double &_jerk)
void	CalculateFourthOrderPolynomialTrajectory (double t, double swing_period, double distance, double &_pos, double &_vel, double _acc)

Function Documentation

mirrorOffset()

Eigen::Vector3d mirrorOffset	(	Eigen::Vector3d	offset,
		Kinematics::LegType	leg
	)

Definition at line 5 of file gaits.cpp.

classicGait()

Eigen::Vector3d classicGait	(	double	t,
		Kinematics::LegType	leg
	)

Definition at line 27 of file gaits.cpp.

smallestPositiveRoot()

double smallestPositiveRoot

(

Eigen::Matrix< double, Eigen::Dynamic, 1 >

coeffs

)

Definition at line 72 of file gaits.cpp.

polynomialSpine()

double polynomialSpine	(	double	t,
		double	t_tot,
		double	d_tot,
		double	a_max,
		double	v_rob
	)

Definition at line 95 of file gaits.cpp.

CalculatePolynomialTrajectory()

void CalculatePolynomialTrajectory	(	double	t,
		double	swing_period,
		double	rise_percentage,
		double	distance,
		double	vel_cmd,
		double &	_pos,
		double &	_vel,
		double &	_acc,
		double &	_jerk
	)

Definition at line 196 of file gaits.cpp.

CalculateFourthOrderPolynomialTrajectory()

void CalculateFourthOrderPolynomialTrajectory	(	double	t,
		double	swing_period,
		double	distance,
		double &	_pos,
		double &	_vel,
		double	_acc
	)

Definition at line 277 of file gaits.cpp.