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BodyMotionData Class Reference

Data structure describing the desired motion of a single body on the robot. More...

Collaboration diagram for BodyMotionData:

Public Member Functions

function BodyMotionData (body_id, ts)
 
function findTInd (obj, t)
 
function eval (obj, t)
 
function sliceAtTime (obj, t)
 
function slice (obj, t_ind)
 
function getPP (obj)
 

Static Public Member Functions

static function from_body_poses (body_id, ts, xyz_rpy)
 Maintained for backwards compatibility, assumed to be xyzrpy. More...
 
static function from_body_poses_and_velocities (body_id, ts, xyz_rpy, xyz_rpydot)
 Maintained for backwards compatibility, assumed to be xyzrpy. More...
 
static function from_body_xyzrpy (body_id, ts, poses)
 
static function from_body_xyzquat (body_id, ts, xyz_quat)
 
static function from_body_xyzquat_and_xyzquatdot (body_id, ts, xyzquat, xyzquatdot)
 
static function from_body_xyzexp (body_id, ts, poses_exp)
 [xyz; exp] More...
 
static function from_body_xyzexp_and_xyzexpdot (body_id, ts, poses_exp, dposes_exp)
 

Public Attributes

Property ts
 
Property coefs
 
Property body_id
 
Property toe_off_allowed
 
Property in_floating_base_nullspace
 
Property control_pose_when_in_contact
 
Property quat_task_to_world
 
Property translation_task_to_world
 
Property xyz_kp_multiplier
 
Property xyz_damping_ratio_multiplier
 
Property expmap_kp_multiplier
 
Property expmap_damping_ratio_multiplier
 
Property weight_multiplier
 

Detailed Description

Data structure describing the desired motion of a single body on the robot.

The QPLocomotionPlan will call this class's slice() method to get a snapshot of the desired body motion, which will be sent to the controller as part of the QP controller input.

The desired body motion is expressed as a piecewise cubic polynomial.

Constructor & Destructor Documentation

function BodyMotionData ( body_id  ,
ts   
)
Return values
obj

Member Function Documentation

function eval ( obj  ,
 
)
Return values
x
xd
xdd
function findTInd ( obj  ,
 
)
Return values
t_ind
static function from_body_poses ( body_id  ,
ts  ,
xyz_rpy   
)
static

Maintained for backwards compatibility, assumed to be xyzrpy.

Return values
obj
static function from_body_poses_and_velocities ( body_id  ,
ts  ,
xyz_rpy  ,
xyz_rpydot   
)
static

Maintained for backwards compatibility, assumed to be xyzrpy.

Return values
obj
static function from_body_xyzexp ( body_id  ,
ts  ,
poses_exp   
)
static

[xyz; exp]

Return values
obj
static function from_body_xyzexp_and_xyzexpdot ( body_id  ,
ts  ,
poses_exp  ,
dposes_exp   
)
static
Return values
obj
static function from_body_xyzquat ( body_id  ,
ts  ,
xyz_quat   
)
static
Return values
obj
static function from_body_xyzquat_and_xyzquatdot ( body_id  ,
ts  ,
xyzquat  ,
xyzquatdot   
)
static
Return values
obj
static function from_body_xyzrpy ( body_id  ,
ts  ,
poses   
)
static
Return values
obj
function getPP ( obj  )
Return values
pp
function slice ( obj  ,
t_ind   
)
Return values
body_motion_slice
function sliceAtTime ( obj  ,
 
)
Return values
body_motion_slice

Member Data Documentation

Property body_id
Property coefs
Property control_pose_when_in_contact
Property expmap_damping_ratio_multiplier
Property expmap_kp_multiplier
Property in_floating_base_nullspace
Property quat_task_to_world
Property toe_off_allowed
Property translation_task_to_world
Property ts
Property weight_multiplier
Property xyz_damping_ratio_multiplier
Property xyz_kp_multiplier

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