Basic RT components and utilities  315.7.0
Classes | Public Types | Public Member Functions | List of all members
OpenHRP::AutoBalancerService Interface Reference

import "AutoBalancerService.idl";

Classes

struct  AutoBalancerParam
 Parameters for AutoBalancer. More...
struct  Footstep
 Foot step for one leg. More...
struct  FootstepParam
 Foot step parameters. More...
struct  GaitGeneratorParam
 Parameters for GaitGenerator. More...
struct  StepParam
 Step parameter for one step. More...

Public Types

enum  SupportLegState { RLEG, LLEG, BOTH }
 State of support leg. More...
enum  OrbitType {
  SHUFFLING, CYCLOID, RECTANGLE, STAIR,
  CYCLOIDDELAY, CYCLOIDDELAYKICK
}
 Orbit type of swing foot. More...
enum  ControllerMode { MODE_IDLE, MODE_ABC, MODE_SYNC_TO_IDLE, MODE_SYNC_TO_ABC }
 Mode of controller. More...
typedef sequence< double, 3 > DblSequence3
typedef double DblArray3 [3]
typedef double DblArray4 [4]
typedef sequence< FootstepFootstepSequence
typedef sequence< StepParamStepParamSequence
typedef sequence< string > StrSequence

Public Member Functions

boolean goPos (in double x, in double y, in double th)
 Walk to the goal position and orientation.
boolean goVelocity (in double vx, in double vy, in double vth)
 Walk at the desired velocity.
boolean goStop ()
 Stop stepping.
boolean emergencyStop ()
 Stop stepping immediately.
boolean setFootSteps (in FootstepSequence fs, in long overwrite_fs_idx)
 Set footsteps.
boolean setFootStepsWithParam (in FootstepSequence fs, in StepParamSequence sps, in long overwrite_fs_idx)
 Set footsteps.
void waitFootSteps ()
 Wait for whole footsteps are executed.
void waitFootStepsEarly (in double tm)
 Wait for whole footsteps are executed.
boolean startAutoBalancer (in StrSequence limbs)
 Start AutoBalancer mode in which the robot controls the COM.
boolean stopAutoBalancer ()
 Stop AutoBalancer mode.
boolean setGaitGeneratorParam (in GaitGeneratorParam i_param)
 Set GaitGenerator parameters.
boolean getGaitGeneratorParam (out GaitGeneratorParam i_param)
 Get GaitGenerator parameters.
boolean setAutoBalancerParam (in AutoBalancerParam i_param)
 Set AutoBalancer parameters.
boolean getAutoBalancerParam (out AutoBalancerParam i_param)
 Get AutoBalancer parameters.
boolean getFootstepParam (out FootstepParam i_param)
 Get footstep parameters.
boolean adjustFootSteps (in Footstep rfootstep, in Footstep lfootstep)
 Adjust Footsteps.
boolean getRemainingFootstepSequence (out FootstepSequence o_footstep, out long o_current_fs_idx)
 Get remaining footstep list.
boolean releaseEmergencyStop ()
 Release emergency stop mode.

Member Typedef Documentation

typedef double OpenHRP::AutoBalancerService::DblArray3[3]
typedef double OpenHRP::AutoBalancerService::DblArray4[4]
typedef sequence<double, 3> OpenHRP::AutoBalancerService::DblSequence3

Member Enumeration Documentation

Mode of controller.

Enumerator:
MODE_IDLE 
MODE_ABC 
MODE_SYNC_TO_IDLE 
MODE_SYNC_TO_ABC 

Orbit type of swing foot.

Enumerator:
SHUFFLING 
CYCLOID 
RECTANGLE 
STAIR 
CYCLOIDDELAY 
CYCLOIDDELAYKICK 

State of support leg.

Enumerator:
RLEG 
LLEG 
BOTH 

Member Function Documentation

boolean OpenHRP::AutoBalancerService::adjustFootSteps ( in Footstep  rfootstep,
in Footstep  lfootstep 
)

Adjust Footsteps.

Parameters
@returntrue if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::emergencyStop ( )

Stop stepping immediately.

Parameters
@returntrue if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::getAutoBalancerParam ( out AutoBalancerParam  i_param)

Get AutoBalancer parameters.

Parameters
i_paramis output parameters
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::getFootstepParam ( out FootstepParam  i_param)

Get footstep parameters.

Parameters
i_paramis output parameters
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::getGaitGeneratorParam ( out GaitGeneratorParam  i_param)

Get GaitGenerator parameters.

Parameters
i_paramis output parameters
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::getRemainingFootstepSequence ( out FootstepSequence  o_footstep,
out long  o_current_fs_idx 
)

Get remaining footstep list.

Parameters
o_footstepis remaining footstep sequence. For example, if initial footsteps are [rfoot(0), lfoot(1), ..., rfoot(N-1)] (rfoot(0) is initial support foot and lfoot(1) is initial swing destination foot) and current support foot is lfoot(X-1), o_footstep is [rfoot(X), lfoot(X+1), ..., rfoot(N)]. o_current_fs_idx is current footstep index X.
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::goPos ( in double  x,
in double  y,
in double  th 
)

Walk to the goal position and orientation.

Returns without waiting for whole steps to be executed.

Parameters
i_x[m],i_y[m],andi_th[deg] are goal x-y-position and z-orientation from the current mid-coords of right foot and left foot.
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::goStop ( )

Stop stepping.

Parameters
@returntrue if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::goVelocity ( in double  vx,
in double  vy,
in double  vth 
)

Walk at the desired velocity.

If the robot is stopping, the robot starts stepping. Returns without waiting for whole steps to be executed.

Parameters
i_vx[m/s],i_vy[m/s],andi_vth[deg/s] are velocity in the current mid-coords of right foot and left foot.
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::releaseEmergencyStop ( )

Release emergency stop mode.

Parameters
@returntrue if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::setAutoBalancerParam ( in AutoBalancerParam  i_param)

Set AutoBalancer parameters.

Parameters
i_paramis input parameter
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::setFootSteps ( in FootstepSequence  fs,
in long  overwrite_fs_idx 
)

Set footsteps.

Returns without waiting for whole steps to be executed.

Parameters
fsis sequence of FootStep structure. overwrite_fs_idx is index to be overwritten. overwrite_fs_idx is used only in walking.
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::setFootStepsWithParam ( in FootstepSequence  fs,
in StepParamSequence  sps,
in long  overwrite_fs_idx 
)

Set footsteps.

Returns without waiting for whole steps to be executed.

Parameters
fsis sequence of FootStepWithParam structure. overwrite_fs_idx is index to be overwritten. overwrite_fs_idx is used only in walking.
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::setGaitGeneratorParam ( in GaitGeneratorParam  i_param)

Set GaitGenerator parameters.

Parameters
i_paramis input parameter
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::startAutoBalancer ( in StrSequence  limbs)

Start AutoBalancer mode in which the robot controls the COM.

Parameters
limbsis sequence of limbs to fix. limbs are :rleg, :lleg, :rarm, and :larm
Returns
true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::stopAutoBalancer ( )

Stop AutoBalancer mode.

Parameters
@returntrue if set successfully, false otherwise
void OpenHRP::AutoBalancerService::waitFootSteps ( )

Wait for whole footsteps are executed.

Parameters
@returntrue if set successfully, false otherwise
void OpenHRP::AutoBalancerService::waitFootStepsEarly ( in double  tm)

Wait for whole footsteps are executed.

Parameters
tmis early time from stepping finish
Returns
true if set successfully, false otherwise

The documentation for this interface was generated from the following file: