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| State (dart::dynamics::SkeletonPtr _skeleton, const std::string &_name) |
| Constructor.
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virtual | ~State () |
| Destructor.
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void | setName (std::string &_name) |
| Set name.
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const std::string & | getName () const |
| Get name.
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void | setNextState (State *_nextState) |
| Set next state.
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void | setTerminalCondition (TerminalCondition *_condition) |
| Add terminal condition.
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State * | getNextState () const |
| Get next state.
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double | getElapsedTime () const |
| Get elapsed time.
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void | setDesiredJointPosition (const std::string &_jointName, double _val) |
| Set desired joint position whose name is _jointName.
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double | getDesiredJointPosition (int _idx) const |
| Get desired joint position whose index is _idx.
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double | getDesiredJointPosition (const std::string &_jointName) const |
| Get desired joint position whose name is _jointName.
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void | setDesiredSwingLegGlobalAngleOnSagital (double _val) |
| Set desired global angle swing leg on sagital plane.
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void | setDesiredSwingLegGlobalAngleOnCoronal (double _val) |
| Set desired global angle swing leg on coronal plane.
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void | setDesiredPelvisGlobalAngleOnSagital (double _val) |
| Set desired global angle pelvis on sagital plane.
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void | setDesiredPelvisGlobalAngleOnCoronal (double _val) |
| Set desired global angle of pelvis on coronal plane.
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void | setProportionalGain (int _idx, double _val) |
| Set proportional gain for PD controller.
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void | setProportionalGain (const std::string &_jointName, double _val) |
| Set proportional gain for PD controller.
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double | getProportionalGain (int _idx) const |
| Get proportional gain for PD controller.
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double | getProportionalGain (const std::string &_jointName) const |
| Get proportional gain for PD controller.
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void | setDerivativeGain (int _idx, double _val) |
| Set derivative gain for PD controller.
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void | setDerivativeGain (const std::string &_jointName, double _val) |
| Set derivative gain for PD controller.
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double | getDerivativeGain (int _idx) const |
| Get derivative gain for PD controller.
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void | setFeedbackSagitalCOMDistance (std::size_t _index, double _val) |
| Set balance feedback gain parameter for sagital com distance.
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void | setFeedbackSagitalCOMVelocity (std::size_t _index, double _val) |
| Set balance feedback gain parameter for sagital com velocity.
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void | setFeedbackCoronalCOMDistance (std::size_t _index, double _val) |
| Set balance feedback gain parameter for sagital com distance.
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void | setFeedbackCoronalCOMVelocity (std::size_t _index, double _val) |
| Set balance feedback gain parameter for sagital com velocity.
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void | setStanceFootToLeftFoot () |
| Set stance foot to left foot.
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void | setStanceFootToRightFoot () |
| Set stance foot to right foot.
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virtual void | begin (double _currentTime) |
| Initiate state. More...
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virtual void | computeControlForce (double _timestep) |
| Compute control force and apply it to Atlas robot.
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virtual bool | isTerminalConditionSatisfied () const |
| Check if terminal condision is satisfied.
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virtual void | end (double _currentTime) |
| Finalize state. More...
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| State (dart::dynamics::SkeletonPtr _skeleton, const std::string &_name) |
| Constructor.
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virtual | ~State () |
| Destructor.
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void | setName (std::string &_name) |
| Set name.
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const std::string & | getName () const |
| Get name.
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void | setNextState (State *_nextState) |
| Set next state.
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void | setTerminalCondition (TerminalCondition *_condition) |
| Add terminal condition.
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State * | getNextState () const |
| Get next state.
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double | getElapsedTime () const |
| Get elapsed time.
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void | setDesiredJointPosition (const std::string &_jointName, double _val) |
| Set desired joint position whose name is _jointName.
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double | getDesiredJointPosition (int _idx) const |
| Get desired joint position whose index is _idx.
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double | getDesiredJointPosition (const std::string &_jointName) const |
| Get desired joint position whose name is _jointName.
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void | setDesiredSwingLegGlobalAngleOnSagital (double _val) |
| Set desired global angle swing leg on sagital plane.
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void | setDesiredSwingLegGlobalAngleOnCoronal (double _val) |
| Set desired global angle swing leg on coronal plane.
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void | setDesiredPelvisGlobalAngleOnSagital (double _val) |
| Set desired global angle pelvis on sagital plane.
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void | setDesiredPelvisGlobalAngleOnCoronal (double _val) |
| Set desired global angle of pelvis on coronal plane.
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void | setProportionalGain (int _idx, double _val) |
| Set proportional gain for PD controller.
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void | setProportionalGain (const std::string &_jointName, double _val) |
| Set proportional gain for PD controller.
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double | getProportionalGain (int _idx) const |
| Get proportional gain for PD controller.
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double | getProportionalGain (const std::string &_jointName) const |
| Get proportional gain for PD controller.
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void | setDerivativeGain (int _idx, double _val) |
| Set derivative gain for PD controller.
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void | setDerivativeGain (const std::string &_jointName, double _val) |
| Set derivative gain for PD controller.
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double | getDerivativeGain (int _idx) const |
| Get derivative gain for PD controller.
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void | setFeedbackSagitalCOMDistance (std::size_t _index, double _val) |
| Set balance feedback gain parameter for sagital com distance.
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void | setFeedbackSagitalCOMVelocity (std::size_t _index, double _val) |
| Set balance feedback gain parameter for sagital com velocity.
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void | setFeedbackCoronalCOMDistance (std::size_t _index, double _val) |
| Set balance feedback gain parameter for sagital com distance.
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void | setFeedbackCoronalCOMVelocity (std::size_t _index, double _val) |
| Set balance feedback gain parameter for sagital com velocity.
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void | setStanceFootToLeftFoot () |
| Set stance foot to left foot.
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void | setStanceFootToRightFoot () |
| Set stance foot to right foot.
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virtual void | begin (double _currentTime) |
| Initiate state. More...
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virtual void | computeControlForce (double _timestep) |
| Compute control force and apply it to Atlas robot.
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virtual bool | isTerminalConditionSatisfied () const |
| Check if terminal condision is satisfied.
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virtual void | end (double _currentTime) |
| Finalize state. More...
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