Basic RT components and utilities  315.15.0
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  Footsteps
 Foot step for multi legs. More...
 
struct  GaitGeneratorParam
 Parameters for GaitGenerator. More...
 
struct  IKLimbParameters
 
struct  StepParam
 Step parameter for one step. More...
 
struct  StepParams
 Step parameters for multi step. More...
 

Public Types

enum  SupportLegState { RLEG, LLEG, BOTH }
 State of support leg. More...
 
enum  OrbitType {
  SHUFFLING, CYCLOID, RECTANGLE, STAIR,
  CYCLOIDDELAY, CYCLOIDDELAYKICK, CROSS
}
 Orbit type of swing foot. More...
 
enum  GaitType {
  BIPED, TROT, PACE, CRAWL,
  GALLOP
}
 Gait type. More...
 
enum  ControllerMode { MODE_IDLE, MODE_ABC, MODE_SYNC_TO_IDLE, MODE_SYNC_TO_ABC }
 Mode of controller. More...
 
enum  UseForceMode { MODE_NO_FORCE, MODE_REF_FORCE, MODE_REF_FORCE_WITH_FOOT, MODE_REF_FORCE_RFU_EXT_MOMENT }
 Mode of use_force. More...
 
enum  StrideLimitationType { SQUARE, CIRCLE }
 Type of stride limitation. More...
 
typedef sequence< double, 3 > DblSequence3
 
typedef double DblArray2[2]
 
typedef double DblArray3[3]
 
typedef double DblArray4[4]
 
typedef double DblArray5[5]
 
typedef sequence< FootstepFootstepSequence
 
typedef sequence< StepParamStepParamSequence
 
typedef sequence< FootstepsFootstepsSequence
 
typedef sequence< StepParamsStepParamsSequence
 
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. More...
 
boolean goVelocity (in double vx, in double vy, in double vth)
 Walk at the desired velocity. More...
 
boolean goStop ()
 Stop stepping. More...
 
boolean emergencyStop ()
 Stop stepping immediately. More...
 
boolean setFootSteps (in FootstepsSequence fss, in long overwrite_fs_idx)
 Set footsteps. More...
 
boolean setFootStepsWithParam (in FootstepsSequence fss, in StepParamsSequence spss, in long overwrite_fs_idx)
 Set footsteps. More...
 
void waitFootSteps ()
 Wait for whole footsteps are executed. More...
 
void waitFootStepsEarly (in double tm)
 Wait for whole footsteps are executed. More...
 
boolean startAutoBalancer (in StrSequence limbs)
 Start AutoBalancer mode in which the robot controls the COM. More...
 
boolean stopAutoBalancer ()
 Stop AutoBalancer mode. More...
 
boolean setGaitGeneratorParam (in GaitGeneratorParam i_param)
 Set GaitGenerator parameters. More...
 
boolean getGaitGeneratorParam (out GaitGeneratorParam i_param)
 Get GaitGenerator parameters. More...
 
boolean setAutoBalancerParam (in AutoBalancerParam i_param)
 Set AutoBalancer parameters. More...
 
boolean getAutoBalancerParam (out AutoBalancerParam i_param)
 Get AutoBalancer parameters. More...
 
boolean getFootstepParam (out FootstepParam i_param)
 Get footstep parameters. More...
 
boolean adjustFootSteps (in Footstep rfootstep, in Footstep lfootstep)
 Adjust Footsteps. More...
 
boolean getRemainingFootstepSequence (out FootstepSequence o_footstep, out long o_current_fs_idx)
 Get remaining footstep list. More...
 
boolean getGoPosFootstepsSequence (in double x, in double y, in double th, out FootstepsSequence o_footstep)
 Get GoPos Footstep list. More...
 
boolean releaseEmergencyStop ()
 Release emergency stop mode. More...
 

Member Typedef Documentation

◆ 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

typedef sequence<double, 3> OpenHRP::AutoBalancerService::DblSequence3

◆ FootstepSequence

◆ FootstepsSequence

◆ StepParamSequence

◆ StepParamsSequence

◆ StrSequence

Member Enumeration Documentation

◆ ControllerMode

Mode of controller.

Enumerator
MODE_IDLE 
MODE_ABC 
MODE_SYNC_TO_IDLE 
MODE_SYNC_TO_ABC 

◆ GaitType

Gait type.

Enumerator
BIPED 
TROT 
PACE 
CRAWL 
GALLOP 

◆ OrbitType

Orbit type of swing foot.

Enumerator
SHUFFLING 
CYCLOID 
RECTANGLE 
STAIR 
CYCLOIDDELAY 
CYCLOIDDELAYKICK 
CROSS 

◆ StrideLimitationType

Type of stride limitation.

Enumerator
SQUARE 
CIRCLE 

◆ SupportLegState

State of support leg.

Enumerator
RLEG 
LLEG 
BOTH 

◆ UseForceMode

Mode of use_force.

Enumerator
MODE_NO_FORCE 

Mode in which robot's COG is not changed according to force/moment values.

MODE_REF_FORCE 

Mode in which robot's COG is changed according to sensors' force/moment values.

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)

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.

Member Function Documentation

◆ adjustFootSteps()

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

Adjust Footsteps.

Parameters

◆ emergencyStop()

boolean OpenHRP::AutoBalancerService::emergencyStop ( )

Stop stepping immediately.

Parameters

◆ getAutoBalancerParam()

boolean OpenHRP::AutoBalancerService::getAutoBalancerParam ( out AutoBalancerParam  i_param)

Get AutoBalancer parameters.

Parameters
i_paramis output parameters
Returns
true if set successfully, false otherwise

◆ getFootstepParam()

boolean OpenHRP::AutoBalancerService::getFootstepParam ( out FootstepParam  i_param)

Get footstep parameters.

Parameters
i_paramis output parameters
Returns
true if set successfully, false otherwise

◆ getGaitGeneratorParam()

boolean OpenHRP::AutoBalancerService::getGaitGeneratorParam ( out GaitGeneratorParam  i_param)

Get GaitGenerator parameters.

Parameters
i_paramis output parameters
Returns
true if set successfully, false otherwise

◆ getGoPosFootstepsSequence()

boolean OpenHRP::AutoBalancerService::getGoPosFootstepsSequence ( in double  x,
in double  y,
in double  th,
out FootstepsSequence  o_footstep 
)

Get GoPos Footstep list.

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. o_footstep is footstep sequence.
Returns
true if set successfully, false otherwise

◆ getRemainingFootstepSequence()

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

◆ goPos()

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

◆ goStop()

boolean OpenHRP::AutoBalancerService::goStop ( )

Stop stepping.

Parameters

◆ goVelocity()

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

◆ releaseEmergencyStop()

boolean OpenHRP::AutoBalancerService::releaseEmergencyStop ( )

Release emergency stop mode.

Parameters

◆ setAutoBalancerParam()

boolean OpenHRP::AutoBalancerService::setAutoBalancerParam ( in AutoBalancerParam  i_param)

Set AutoBalancer parameters.

Parameters
i_paramis input parameter
Returns
true if set successfully, false otherwise

◆ setFootSteps()

boolean OpenHRP::AutoBalancerService::setFootSteps ( in FootstepsSequence  fss,
in long  overwrite_fs_idx 
)

Set footsteps.

Returns without waiting for whole steps to be executed.

Parameters
fssis 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()

boolean OpenHRP::AutoBalancerService::setFootStepsWithParam ( in FootstepsSequence  fss,
in StepParamsSequence  spss,
in long  overwrite_fs_idx 
)

Set footsteps.

Returns without waiting for whole steps to be executed.

Parameters
fssis 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
i_paramis input parameter
Returns
true if set successfully, false otherwise

◆ startAutoBalancer()

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

◆ stopAutoBalancer()

boolean OpenHRP::AutoBalancerService::stopAutoBalancer ( )

Stop AutoBalancer mode.

Parameters

◆ waitFootSteps()

void OpenHRP::AutoBalancerService::waitFootSteps ( )

Wait for whole footsteps are executed.

Parameters

◆ waitFootStepsEarly()

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: