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BipedPlanEval Class Reference

A PlanEval which includes some biped-specific tweaks. More...

Inheritance diagram for BipedPlanEval:
Collaboration diagram for BipedPlanEval:

Public Member Functions

function BipedPlanEval (r, varargin)
 
function getQPControllerInput (obj, t, x, contact_force_detected)
 
- Public Member Functions inherited from PlanEval
function PlanEval (plans)
 
function getCurrentPlan (obj, t, x)
 
function getQPControllerInput (obj, t, x)
 Get a QPInput structure describing the instantaneous input to the QP controller. More...
 
function insertPlan (obj, new_plan, idx)
 Insert a new plan to the queue before the given index. More...
 
function appendPlan (obj, new_plan)
 Add a plan to the end of the queue. More...
 
function switchToPlan (obj, new_plan)
 Replace the queue with a single new plan, which will become the current plan immediately. More...
 

Protected Attributes

Property robot
 

Additional Inherited Members

- Public Attributes inherited from PlanEval
Property t
 
Property x
 
Property qp_input
 
Property plan_queue
 

Detailed Description

A PlanEval which includes some biped-specific tweaks.

Specifically, it calls its plans' getQPControllerInput method with an additional argument (contact_force_detected)

Constructor & Destructor Documentation

function BipedPlanEval ( ,
varargin   
)
Return values
obj

Member Function Documentation

function getQPControllerInput ( obj  ,
t  ,
x  ,
contact_force_detected   
)
Return values
qp_input

Member Data Documentation

Property robot
protected

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