import "AutoBalancerService.idl";
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enum | SupportLegState { RLEG,
LLEG,
BOTH
} |
| State of support leg. More...
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enum | OrbitType {
SHUFFLING,
CYCLOID,
RECTANGLE,
STAIR,
CYCLOIDDELAY,
CYCLOIDDELAYKICK
} |
| Orbit type of swing foot. More...
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enum | ControllerMode { MODE_IDLE,
MODE_ABC,
MODE_SYNC_TO_IDLE,
MODE_SYNC_TO_ABC
} |
| Mode of controller. More...
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typedef sequence< double, 3 > | DblSequence3 |
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typedef double | DblArray3 [3] |
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typedef double | DblArray4 [4] |
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typedef sequence< Footstep > | FootstepSequence |
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typedef sequence< StepParam > | StepParamSequence |
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typedef sequence< string > | StrSequence |
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typedef double OpenHRP::AutoBalancerService::DblArray3[3] |
typedef double OpenHRP::AutoBalancerService::DblArray4[4] |
Mode of controller.
Enumerator |
---|
MODE_IDLE |
|
MODE_ABC |
|
MODE_SYNC_TO_IDLE |
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MODE_SYNC_TO_ABC |
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Orbit type of swing foot.
Enumerator |
---|
SHUFFLING |
|
CYCLOID |
|
RECTANGLE |
|
STAIR |
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CYCLOIDDELAY |
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CYCLOIDDELAYKICK |
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boolean OpenHRP::AutoBalancerService::adjustFootSteps |
( |
in Footstep |
rfootstep, |
|
|
in Footstep |
lfootstep |
|
) |
| |
Adjust Footsteps.
- Parameters
-
@return | true if set successfully, false otherwise |
boolean OpenHRP::AutoBalancerService::emergencyStop |
( |
| ) |
|
Stop stepping immediately.
- Parameters
-
@return | true if set successfully, false otherwise |
boolean OpenHRP::AutoBalancerService::getAutoBalancerParam |
( |
out AutoBalancerParam |
i_param | ) |
|
Get AutoBalancer parameters.
- Parameters
-
i_param | is output parameters |
- Returns
- true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::getFootstepParam |
( |
out FootstepParam |
i_param | ) |
|
Get footstep parameters.
- Parameters
-
i_param | is output parameters |
- Returns
- true if set successfully, false otherwise
boolean OpenHRP::AutoBalancerService::getGaitGeneratorParam |
( |
out GaitGeneratorParam |
i_param | ) |
|
Get GaitGenerator parameters.
- Parameters
-
i_param | is 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_footstep | is 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],and | i_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
-
@return | true 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],and | i_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
-
@return | true if set successfully, false otherwise |
boolean OpenHRP::AutoBalancerService::setAutoBalancerParam |
( |
in AutoBalancerParam |
i_param | ) |
|
Set AutoBalancer parameters.
- Parameters
-
i_param | is 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
-
fs | is 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
Set footsteps.
Returns without waiting for whole steps to be executed.
- Parameters
-
fs | is 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_param | is 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
-
limbs | is 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
-
@return | true if set successfully, false otherwise |
void OpenHRP::AutoBalancerService::waitFootSteps |
( |
| ) |
|
Wait for whole footsteps are executed.
- Parameters
-
@return | true if set successfully, false otherwise |
void OpenHRP::AutoBalancerService::waitFootStepsEarly |
( |
in double |
tm | ) |
|
Wait for whole footsteps are executed.
- Parameters
-
tm | is early time from stepping finish |
- Returns
- true if set successfully, false otherwise
The documentation for this interface was generated from the following file: