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FootstepPlan Class Reference

A container for footstep plans. More...

Collaboration diagram for FootstepPlan:

Public Member Functions

function FootstepPlan (footsteps, biped, params, safe_regions, region_order)
 
function to_footstep_plan_t (obj)
 
function toLCM (obj)
 
function slice (obj, idx)
 
function extend (obj, final_length, n)
 Extend a footstep plan by replicating its final n footsteps. More...
 
function compute_step_timing (obj, biped)
 Compute the approximate step timing based on the distance each swing foot must travel. More...
 
function sanity_check (obj)
 Self-test for footstep plans. More...
 
function draw_lcmgl (obj, lcmgl)
 
function draw_2d (obj)
 
function relative_step_offsets (obj)
 Compute the relative displacements of the footsteps (for checking collocation results from footstepNLP) More...
 
function step_matrix (obj)
 Return the footstep positions as a 6xnsteps matrix in x y z roll pitch yaw. More...
 
function trim_duplicates (obj, trim_threshold)
 Remove steps from the beginning which are identical to the initial poses and remove steps at the end which are identical to the final poses, returning a modified copy of the plan. More...
 
function applyTransform (obj, T)
 Apply a transform to every footstep and safe region, returning a new FootstepPlan. More...
 

Static Public Member Functions

static function from_footstep_plan_t (msg, biped)
 
static function blank_plan (biped, nsteps, ordered_frame_id, params, safe_regions)
 Construct a FootstepPlan with all footstep poses set to NaN, but with the individual step frame_id fields filled out appropriately. More...
 

Public Attributes

Property footsteps
 
Property params
 
Property safe_regions
 
Property region_order
 
Property biped
 

Detailed Description

A container for footstep plans.

A footstep plan contains the location of each footstep, the safe terrain regions that those steps occupy, and the assignments of each step to a safe region.

Constructor & Destructor Documentation

function FootstepPlan ( footsteps  ,
biped  ,
params  ,
safe_regions  ,
region_order   
)
Return values
obj

Member Function Documentation

function applyTransform ( obj  ,
 
)

Apply a transform to every footstep and safe region, returning a new FootstepPlan.

Parameters
Ta homogeneous transformation matrix (4x4)
Return values
obj
static function blank_plan ( biped  ,
nsteps  ,
ordered_frame_id  ,
params  ,
safe_regions   
)
static

Construct a FootstepPlan with all footstep poses set to NaN, but with the individual step frame_id fields filled out appropriately.

This is useful because all of the existing footstep optimizations require that the maximum number of footsteps and the sequence of the feet be assigned beforehand.

Return values
plan
function compute_step_timing ( obj  ,
biped   
)

Compute the approximate step timing based on the distance each swing foot must travel.

Return values
tsa vector of times (in seconds) corresponding to the completion (return to double support) of each step in the plan. The first two entries of ts will always be zero, since the first two steps in the plan correspond to the current locations of the feet.
function draw_2d ( obj  )
function draw_lcmgl ( obj  ,
lcmgl   
)
function extend ( obj  ,
final_length  ,
 
)

Extend a footstep plan by replicating its final n footsteps.

Useful for generating seeds for later optimization.

Parameters
final_lengthdesired number of footsteps in the extended plan
Options:
n  how many final steps to consider (the last n steps will be repeatedly appended to the footstep plan until the final length is achieved). Optional. Default: 2
Return values
planthe extended plan
static function from_footstep_plan_t ( msg  ,
biped   
)
static
Return values
plan
function relative_step_offsets ( obj  )

Compute the relative displacements of the footsteps (for checking collocation results from footstepNLP)

Return values
steps_rel
function sanity_check ( obj  )

Self-test for footstep plans.

Return values
varargout
function slice ( obj  ,
idx   
)
Return values
plan
function step_matrix ( obj  )

Return the footstep positions as a 6xnsteps matrix in x y z roll pitch yaw.

Return values
steps
function to_footstep_plan_t ( obj  )
Return values
msg
function toLCM ( obj  )
Return values
msg
function trim_duplicates ( obj  ,
trim_threshold   
)

Remove steps from the beginning which are identical to the initial poses and remove steps at the end which are identical to the final poses, returning a modified copy of the plan.

Return values
obj

Member Data Documentation

Property biped
Property footsteps
Property params
Property region_order
Property safe_regions

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