rm_controllers
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Public Member Functions | List of all members
rm_chassis_controllers::BipedalControllerInterface Class Referenceabstract

#include <controller_interface.h>

Inheritance diagram for rm_chassis_controllers::BipedalControllerInterface:
Inheritance graph
[legend]

Public Member Functions

virtual ~BipedalControllerInterface ()=default
 
virtual bool getStateChange () const =0
 
virtual void setStateChange (bool state)=0
 
virtual int getBaseState () const =0
 
virtual bool getOverturn () const =0
 
virtual void setMode (int mode)=0
 
virtual void clearRecoveryFlag ()=0
 
virtual bool getCompleteStand () const =0
 
virtual Eigen::Matrix< double, 4, CONTROL_DIM *STATE_DIM > getCoeffs ()=0
 
virtual const std::shared_ptr< ModelParams > & getModelParams () const =0
 
virtual const std::shared_ptr< ControlParams > & getControlParams () const =0
 
virtual const std::shared_ptr< BiasParams > & getBiasParams () const =0
 
virtual const std::shared_ptr< LegStateThresholdParams > & getLegThresholdParams () const =0
 
virtual const std::shared_ptr< ChassisGeometryParams > & getChassisGeometryParams () const =0
 
virtual double getLegCmd () const =0
 
virtual double getJumpCmd () const =0
 
virtual double getDefaultLegLength () const =0
 
virtual geometry_msgs::Vector3 getVelCmd ()=0
 
virtual bool getMoveFlag () const =0
 
virtual void setMoveFlag (const bool &move_flag)=0
 
virtual const ChassisState & getChassisState ()=0
 
virtual LegState & getLegState (Side side)=0
 
virtual bool getDown5cmStairFlag () const =0
 
virtual void setDown5cmStairFlag (bool flag)=0
 
virtual void setCompleteStand (bool state)=0
 
virtual void setJumpCmd (bool cmd)=0
 
virtual double f_spring_force (double L0)=0
 
virtual void pubState ()=0
 
virtual void pubLQRStatus (Eigen::Matrix< double, STATE_DIM, 1 > left_error, Eigen::Matrix< double, STATE_DIM, 1 > right_error, Eigen::Matrix< double, STATE_DIM, 1 > left_ref, Eigen::Matrix< double, STATE_DIM, 1 > right_ref, Eigen::Matrix< double, CONTROL_DIM, 1 > u_left, Eigen::Matrix< double, CONTROL_DIM, 1 > u_right, Eigen::Matrix< double, CONTROL_DIM, 1 > F_leg_, const bool unstick[2]) const =0
 
virtual void pubLegLenStatus (const bool &upstair_flag)=0
 
virtual void clearStatus ()=0
 
virtual void pubDebugData (const std::string &name, double value)=0
 
virtual bool getRecoveryLegSpdTurnback () const =0
 
virtual void setRecoveryLegSpdTurnback (bool recovery_leg_spd_turnback)=0
 
virtual double getLegThetaOffset (const double &leg_len)=0
 

Constructor & Destructor Documentation

◆ ~BipedalControllerInterface()

virtual rm_chassis_controllers::BipedalControllerInterface::~BipedalControllerInterface ( )
virtualdefault

Member Function Documentation

◆ clearRecoveryFlag()

virtual void rm_chassis_controllers::BipedalControllerInterface::clearRecoveryFlag ( )
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ clearStatus()

virtual void rm_chassis_controllers::BipedalControllerInterface::clearStatus ( )
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ f_spring_force()

virtual double rm_chassis_controllers::BipedalControllerInterface::f_spring_force ( double L0)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getBaseState()

virtual int rm_chassis_controllers::BipedalControllerInterface::getBaseState ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getBiasParams()

virtual const std::shared_ptr< BiasParams > & rm_chassis_controllers::BipedalControllerInterface::getBiasParams ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getChassisGeometryParams()

virtual const std::shared_ptr< ChassisGeometryParams > & rm_chassis_controllers::BipedalControllerInterface::getChassisGeometryParams ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getChassisState()

virtual const ChassisState & rm_chassis_controllers::BipedalControllerInterface::getChassisState ( )
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getCoeffs()

virtual Eigen::Matrix< double, 4, CONTROL_DIM *STATE_DIM > rm_chassis_controllers::BipedalControllerInterface::getCoeffs ( )
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getCompleteStand()

virtual bool rm_chassis_controllers::BipedalControllerInterface::getCompleteStand ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getControlParams()

virtual const std::shared_ptr< ControlParams > & rm_chassis_controllers::BipedalControllerInterface::getControlParams ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getDefaultLegLength()

virtual double rm_chassis_controllers::BipedalControllerInterface::getDefaultLegLength ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getDown5cmStairFlag()

virtual bool rm_chassis_controllers::BipedalControllerInterface::getDown5cmStairFlag ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getJumpCmd()

virtual double rm_chassis_controllers::BipedalControllerInterface::getJumpCmd ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getLegCmd()

virtual double rm_chassis_controllers::BipedalControllerInterface::getLegCmd ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getLegState()

virtual LegState & rm_chassis_controllers::BipedalControllerInterface::getLegState ( Side side)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getLegThetaOffset()

virtual double rm_chassis_controllers::BipedalControllerInterface::getLegThetaOffset ( const double & leg_len)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getLegThresholdParams()

virtual const std::shared_ptr< LegStateThresholdParams > & rm_chassis_controllers::BipedalControllerInterface::getLegThresholdParams ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getModelParams()

virtual const std::shared_ptr< ModelParams > & rm_chassis_controllers::BipedalControllerInterface::getModelParams ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getMoveFlag()

virtual bool rm_chassis_controllers::BipedalControllerInterface::getMoveFlag ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getOverturn()

virtual bool rm_chassis_controllers::BipedalControllerInterface::getOverturn ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getRecoveryLegSpdTurnback()

virtual bool rm_chassis_controllers::BipedalControllerInterface::getRecoveryLegSpdTurnback ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getStateChange()

virtual bool rm_chassis_controllers::BipedalControllerInterface::getStateChange ( ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ getVelCmd()

virtual geometry_msgs::Vector3 rm_chassis_controllers::BipedalControllerInterface::getVelCmd ( )
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ pubDebugData()

virtual void rm_chassis_controllers::BipedalControllerInterface::pubDebugData ( const std::string & name,
double value )
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ pubLegLenStatus()

virtual void rm_chassis_controllers::BipedalControllerInterface::pubLegLenStatus ( const bool & upstair_flag)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ pubLQRStatus()

virtual void rm_chassis_controllers::BipedalControllerInterface::pubLQRStatus ( Eigen::Matrix< double, STATE_DIM, 1 > left_error,
Eigen::Matrix< double, STATE_DIM, 1 > right_error,
Eigen::Matrix< double, STATE_DIM, 1 > left_ref,
Eigen::Matrix< double, STATE_DIM, 1 > right_ref,
Eigen::Matrix< double, CONTROL_DIM, 1 > u_left,
Eigen::Matrix< double, CONTROL_DIM, 1 > u_right,
Eigen::Matrix< double, CONTROL_DIM, 1 > F_leg_,
const bool unstick[2] ) const
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ pubState()

virtual void rm_chassis_controllers::BipedalControllerInterface::pubState ( )
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ setCompleteStand()

virtual void rm_chassis_controllers::BipedalControllerInterface::setCompleteStand ( bool state)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ setDown5cmStairFlag()

virtual void rm_chassis_controllers::BipedalControllerInterface::setDown5cmStairFlag ( bool flag)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ setJumpCmd()

virtual void rm_chassis_controllers::BipedalControllerInterface::setJumpCmd ( bool cmd)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ setMode()

virtual void rm_chassis_controllers::BipedalControllerInterface::setMode ( int mode)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ setMoveFlag()

virtual void rm_chassis_controllers::BipedalControllerInterface::setMoveFlag ( const bool & move_flag)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ setRecoveryLegSpdTurnback()

virtual void rm_chassis_controllers::BipedalControllerInterface::setRecoveryLegSpdTurnback ( bool recovery_leg_spd_turnback)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

◆ setStateChange()

virtual void rm_chassis_controllers::BipedalControllerInterface::setStateChange ( bool state)
pure virtual

Implemented in rm_chassis_controllers::BipedalController.

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