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,
CROSS
} |
| Orbit type of swing foot. More...
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enum | GaitType {
BIPED,
TROT,
PACE,
CRAWL,
GALLOP
} |
| Gait type. 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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enum | UseForceMode { MODE_NO_FORCE,
MODE_REF_FORCE,
MODE_REF_FORCE_WITH_FOOT,
MODE_REF_FORCE_RFU_EXT_MOMENT
} |
| Mode of use_force. More...
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enum | StrideLimitationType { SQUARE,
CIRCLE
} |
| Type of stride limitation. More...
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typedef sequence< double, 3 > | DblSequence3 |
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typedef double | DblArray2[2] |
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typedef double | DblArray3[3] |
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typedef double | DblArray4[4] |
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typedef double | DblArray5[5] |
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typedef sequence< Footstep > | FootstepSequence |
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typedef sequence< StepParam > | StepParamSequence |
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typedef sequence< Footsteps > | FootstepsSequence |
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typedef sequence< StepParams > | StepParamsSequence |
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typedef sequence< string > | StrSequence |
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boolean | goPos (in double x, in double y, in double th) |
| Walk to the goal position and orientation. More...
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boolean | goVelocity (in double vx, in double vy, in double vth) |
| Walk at the desired velocity. More...
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boolean | goStop () |
| Stop stepping. More...
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boolean | emergencyStop () |
| Stop stepping immediately. More...
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boolean | setFootSteps (in FootstepsSequence fss, in long overwrite_fs_idx) |
| Set footsteps. More...
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boolean | setFootStepsWithParam (in FootstepsSequence fss, in StepParamsSequence spss, in long overwrite_fs_idx) |
| Set footsteps. More...
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void | waitFootSteps () |
| Wait for whole footsteps are executed. More...
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void | waitFootStepsEarly (in double tm) |
| Wait for whole footsteps are executed. More...
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boolean | startAutoBalancer (in StrSequence limbs) |
| Start AutoBalancer mode in which the robot controls the COM. More...
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boolean | stopAutoBalancer () |
| Stop AutoBalancer mode. More...
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boolean | setGaitGeneratorParam (in GaitGeneratorParam i_param) |
| Set GaitGenerator parameters. More...
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boolean | getGaitGeneratorParam (out GaitGeneratorParam i_param) |
| Get GaitGenerator parameters. More...
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boolean | setAutoBalancerParam (in AutoBalancerParam i_param) |
| Set AutoBalancer parameters. More...
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boolean | getAutoBalancerParam (out AutoBalancerParam i_param) |
| Get AutoBalancer parameters. More...
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boolean | getFootstepParam (out FootstepParam i_param) |
| Get footstep parameters. More...
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boolean | adjustFootSteps (in Footstep rfootstep, in Footstep lfootstep) |
| Adjust Footsteps. More...
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boolean | getRemainingFootstepSequence (out FootstepSequence o_footstep, out long o_current_fs_idx) |
| Get remaining footstep list. More...
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boolean | getGoPosFootstepsSequence (in double x, in double y, in double th, out FootstepsSequence o_footstep) |
| Get GoPos Footstep list. More...
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boolean | releaseEmergencyStop () |
| Release emergency stop mode. More...
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◆ DblArray2
typedef double OpenHRP::AutoBalancerService::DblArray2[2] |
◆ DblArray3
typedef double OpenHRP::AutoBalancerService::DblArray3[3] |
◆ DblArray4
typedef double OpenHRP::AutoBalancerService::DblArray4[4] |
◆ DblArray5
typedef double OpenHRP::AutoBalancerService::DblArray5[5] |
◆ DblSequence3
◆ FootstepSequence
◆ FootstepsSequence
◆ StepParamSequence
◆ StepParamsSequence
◆ StrSequence
◆ ControllerMode
Mode of controller.
Enumerator |
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MODE_IDLE | |
MODE_ABC | |
MODE_SYNC_TO_IDLE | |
MODE_SYNC_TO_ABC | |
◆ GaitType
Gait type.
Enumerator |
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BIPED | |
TROT | |
PACE | |
CRAWL | |
GALLOP | |
◆ OrbitType
Orbit type of swing foot.
Enumerator |
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SHUFFLING | |
CYCLOID | |
RECTANGLE | |
STAIR | |
CYCLOIDDELAY | |
CYCLOIDDELAYKICK | |
CROSS | |
◆ StrideLimitationType
Type of stride limitation.
◆ SupportLegState
◆ UseForceMode
Mode of use_force.
Enumerator |
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MODE_NO_FORCE | Mode in which robot's COG is not changed according to force/moment values.
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MODE_REF_FORCE | Mode in which robot's COG is changed according to sensors' force/moment values.
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MODE_REF_FORCE_WITH_FOOT | Mode in which robot's COG is changed according to sensors' force/moment values for hands and feet (and root-link)
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MODE_REF_FORCE_RFU_EXT_MOMENT | Mode in which robot's COG is changed according to sensors' force/moment values using ReferenceForceUpdater's ext moment.
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◆ adjustFootSteps()
boolean OpenHRP::AutoBalancerService::adjustFootSteps |
( |
in Footstep |
rfootstep, |
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in Footstep |
lfootstep |
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) |
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◆ emergencyStop()
boolean OpenHRP::AutoBalancerService::emergencyStop |
( |
| ) |
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Stop stepping immediately.
- Parameters
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◆ getAutoBalancerParam()
boolean OpenHRP::AutoBalancerService::getAutoBalancerParam |
( |
out AutoBalancerParam |
i_param | ) |
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Get AutoBalancer parameters.
- Parameters
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i_param | is output parameters |
- Returns
- true if set successfully, false otherwise
◆ getFootstepParam()
boolean OpenHRP::AutoBalancerService::getFootstepParam |
( |
out FootstepParam |
i_param | ) |
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Get footstep parameters.
- Parameters
-
i_param | is output parameters |
- Returns
- true if set successfully, false otherwise
◆ getGaitGeneratorParam()
boolean OpenHRP::AutoBalancerService::getGaitGeneratorParam |
( |
out GaitGeneratorParam |
i_param | ) |
|
Get GaitGenerator parameters.
- Parameters
-
i_param | is output parameters |
- Returns
- true if set successfully, false otherwise
◆ getGoPosFootstepsSequence()
boolean OpenHRP::AutoBalancerService::getGoPosFootstepsSequence |
( |
in double |
x, |
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in double |
y, |
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in double |
th, |
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out FootstepsSequence |
o_footstep |
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) |
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Get GoPos Footstep list.
- Parameters
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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. o_footstep is footstep sequence. |
- Returns
- true if set successfully, false otherwise
◆ getRemainingFootstepSequence()
boolean OpenHRP::AutoBalancerService::getRemainingFootstepSequence |
( |
out FootstepSequence |
o_footstep, |
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out long |
o_current_fs_idx |
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) |
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Get remaining footstep list.
- Parameters
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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
◆ goPos()
boolean OpenHRP::AutoBalancerService::goPos |
( |
in double |
x, |
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in double |
y, |
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in double |
th |
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) |
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Walk to the goal position and orientation.
Returns without waiting for whole steps to be executed.
- Parameters
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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
◆ goStop()
boolean OpenHRP::AutoBalancerService::goStop |
( |
| ) |
|
Stop stepping.
- Parameters
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◆ goVelocity()
boolean OpenHRP::AutoBalancerService::goVelocity |
( |
in double |
vx, |
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in double |
vy, |
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in double |
vth |
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) |
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Walk at the desired velocity.
If the robot is stopping, the robot starts stepping. Returns without waiting for whole steps to be executed.
- Parameters
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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
◆ releaseEmergencyStop()
boolean OpenHRP::AutoBalancerService::releaseEmergencyStop |
( |
| ) |
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Release emergency stop mode.
- Parameters
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◆ setAutoBalancerParam()
boolean OpenHRP::AutoBalancerService::setAutoBalancerParam |
( |
in AutoBalancerParam |
i_param | ) |
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Set AutoBalancer parameters.
- Parameters
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i_param | is input parameter |
- Returns
- true if set successfully, false otherwise
◆ setFootSteps()
boolean OpenHRP::AutoBalancerService::setFootSteps |
( |
in FootstepsSequence |
fss, |
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in long |
overwrite_fs_idx |
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) |
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Set footsteps.
Returns without waiting for whole steps to be executed.
- Parameters
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fss | 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
◆ setFootStepsWithParam()
Set footsteps.
Returns without waiting for whole steps to be executed.
- Parameters
-
fss | 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
◆ setGaitGeneratorParam()
boolean OpenHRP::AutoBalancerService::setGaitGeneratorParam |
( |
in GaitGeneratorParam |
i_param | ) |
|
Set GaitGenerator parameters.
- Parameters
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i_param | is input parameter |
- Returns
- true if set successfully, false otherwise
◆ startAutoBalancer()
boolean OpenHRP::AutoBalancerService::startAutoBalancer |
( |
in StrSequence |
limbs | ) |
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Start AutoBalancer mode in which the robot controls the COM.
- Parameters
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limbs | is sequence of limbs to fix. limbs are :rleg, :lleg, :rarm, and :larm |
- Returns
- true if set successfully, false otherwise
◆ stopAutoBalancer()
boolean OpenHRP::AutoBalancerService::stopAutoBalancer |
( |
| ) |
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Stop AutoBalancer mode.
- Parameters
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◆ waitFootSteps()
void OpenHRP::AutoBalancerService::waitFootSteps |
( |
| ) |
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Wait for whole footsteps are executed.
- Parameters
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◆ waitFootStepsEarly()
void OpenHRP::AutoBalancerService::waitFootStepsEarly |
( |
in double |
tm | ) |
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Wait for whole footsteps are executed.
- Parameters
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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: