Class WalkEngine

• Defined in File walk_engine.hpp

Inheritance Relationships

Base Type

• public bitbots_splines::AbstractEngine< WalkRequest, WalkResponse >

Class Documentation

class bitbots_quintic_walk::WalkEngine : public bitbots_splines::AbstractEngine<WalkRequest, WalkResponse>

QuinticWalk

Holonomic and open loop walk generator based on footstep control and quintic splines in cartesian space. Expressed all target state in cartesian space with respect to current support foot.

Public Functions

explicit WalkEngine(rclcpp::Node::SharedPtr node, walking::Params::Engine config)

WalkResponse update(double dt) override

void setGoals(const WalkRequest &goals) override

void reset() override

int getPercentDone() const override

void setConfig(walking::Params::Engine config)

Updates the engine configuration.

void reset(WalkState state, double phase, std::array<double, 4> step, bool stop_walk, bool walkable_state, bool reset_odometry)

Resets the engine to any given state. Necessary for using it as reference in learning.

double getPhase() const

Return current walk phase between 0 and 1

double getTrajsTime() const

Return current time between 0 and half period for trajectories evaluation

bool isLeftSupport() const

Return if true if left is current support foot

bool isDoubleSupport()

Return true if both feet are currently on the ground

void requestKick(bool left)

void requestPause()

void endStep()

Ends the current step earlier. Useful if foot hits ground to early.

void setPhaseRest(bool active)

WalkState getState()

double getFreq() const

double getWantedTrunkPitch()

void setPauseDuration(double duration)

void setForceSmoothStepTransition(bool force)

tf2::Transform getLeft()

tf2::Transform getRight()

Public Members

walking::Params::Engine config_

Private Types

enum TrajectoryType

Values:

enumerator NORMAL

enumerator KICK

enumerator START_MOVEMENT

enumerator START_STEP

enumerator STOP_STEP

enumerator STOP_MOVEMENT

Private Functions

void updatePhase(double dt)

void buildTrajectories(TrajectoryType type)

void buildWalkDisableTrajectories(bool foot_in_idle_position)

void saveCurrentRobotState()

WalkResponse createResponse()

Compute current cartesian target from trajectories and assign it to given model through inverse kinematics. Return false is the target is unreachable.

void stepFromSupport(const tf2::Transform &diff)

Set the target pose of current support foot during next support phase and update support foot. The target foot pose diff is given with respect to next support foot pose (current flying foot target).

void stepFromOrders(const std::vector<double> &linear_orders, double angular_z)

Set target pose of current support foot using diff orders. Zero vector means in place walking. Special handle of lateral and turn step to avoid foot collision.

tf2::Vector3 getLastEuler()

Small helper method to get euler angle instead of quaternion.

tf2::Vector3 getNextEuler()

Private Members

rclcpp::Node::SharedPtr node_

WalkState engine_state_ = WalkState::IDLE

WalkRequest request_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr callback_handle_

bitbots_splines::SmoothSpline is_double_support_spline_

bitbots_splines::SmoothSpline is_left_support_foot_spline_

bitbots_splines::PoseSpline trunk_spline_

bitbots_splines::PoseSpline foot_spline_

double phase_ = 0.0

double last_phase_ = 0.0

double time_paused_ = 0.0

double pause_duration_ = 0.0

bool pause_requested_ = false

bool phase_rest_active_ = false

bool left_kick_requested_ = false

bool right_kick_requested_ = false

bool is_left_support_foot_ = false

bool force_smooth_step_transition_ = false

tf2::Transform support_to_last_

tf2::Transform support_to_next_

tf2::Transform left_in_world_

tf2::Transform right_in_world_

tf2::Vector3 trunk_pos_at_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 trunk_pos_vel_at_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 trunk_pos_acc_at_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 trunk_orientation_pos_at_last_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 trunk_orientation_vel_at_last_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 trunk_orientation_acc_at_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 foot_pos_at_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 foot_pos_vel_at_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 foot_pos_acc_at_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 foot_orientation_pos_at_last_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 foot_orientation_vel_at_last_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)

tf2::Vector3 foot_orientation_acc_at_foot_change_ = tf2::Vector3(0.0, 0.0, 0.0)