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Quad-SDK
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This is the complete list of members for LocalFootstepPlanner, including all inherited members.
| computeContactSchedule(int current_plan_index, const Eigen::MatrixXd &body_plan, const Eigen::VectorXi &ref_primitive_plan_, int control_mode, std::vector< std::vector< bool > > &contact_schedule) | LocalFootstepPlanner | |
| computeFootPlan(int current_plan_index, const std::vector< std::vector< bool > > &contact_schedule, const Eigen::MatrixXd &body_plan, const Eigen::MatrixXd &grf_plan, const Eigen::MatrixXd &ref_body_plan, const Eigen::VectorXd &foot_positions_current, const Eigen::VectorXd &foot_velocities_current, double first_element_duration, quad_msgs::MultiFootState &past_footholds_msg, Eigen::MatrixXd &foot_positions, Eigen::MatrixXd &foot_velocities, Eigen::MatrixXd &foot_accelerations) | LocalFootstepPlanner | |
| computeFutureBodyPlan(double step, const Eigen::VectorXd &body_plan) (defined in LocalFootstepPlanner) | LocalFootstepPlanner | inline |
| computeSwingApex(int leg_idx, const Eigen::VectorXd &body_plan, const Eigen::Vector3d &foot_position_prev, const Eigen::Vector3d &foot_position_next) | LocalFootstepPlanner | private |
| CONNECT_STANCE | LocalFootstepPlanner | private |
| cubicHermiteSpline(double pos_prev, double vel_prev, double pos_next, double vel_next, double phase, double duration, double &pos, double &vel, double &acc) | LocalFootstepPlanner | private |
| dt_ | LocalFootstepPlanner | private |
| duty_cycles_ | LocalFootstepPlanner | private |
| FLIGHT | LocalFootstepPlanner | private |
| foothold_obj_threshold_ | LocalFootstepPlanner | private |
| foothold_search_radius_ | LocalFootstepPlanner | private |
| getFootData(const Eigen::MatrixXd &foot_state_vars, int horizon_index, int foot_index) | LocalFootstepPlanner | inlineprivate |
| getFootPositionsBodyFrame(const Eigen::VectorXd &body_plan, const Eigen::VectorXd &foot_positions_world, Eigen::VectorXd &foot_positions_body) | LocalFootstepPlanner | |
| getFootPositionsBodyFrame(const Eigen::MatrixXd &body_plan, const Eigen::MatrixXd &foot_positions_world, Eigen::MatrixXd &foot_positions_body) | LocalFootstepPlanner | |
| getNearestValidFoothold(const Eigen::Vector3d &foot_position, const Eigen::Vector3d &foot_position_prev_solve) const | LocalFootstepPlanner | private |
| getNextContactIndex(const std::vector< std::vector< bool > > &contact_schedule, int horizon_index, int foot_index) | LocalFootstepPlanner | inlineprivate |
| getNextLiftoffIndex(const std::vector< std::vector< bool > > &contact_schedule, int horizon_index, int foot_index) | LocalFootstepPlanner | inlineprivate |
| getTerrainHeight(double x, double y) (defined in LocalFootstepPlanner) | LocalFootstepPlanner | inline |
| getTerrainSlope(double x, double y, double dx, double dy) (defined in LocalFootstepPlanner) | LocalFootstepPlanner | inline |
| getTerrainSlope(double x, double y, double yaw, double &roll, double &pitch) (defined in LocalFootstepPlanner) | LocalFootstepPlanner | inline |
| grf_weight_ | LocalFootstepPlanner | private |
| ground_clearance_ | LocalFootstepPlanner | private |
| hip_clearance_ | LocalFootstepPlanner | private |
| horizon_length_ | LocalFootstepPlanner | private |
| isContact(const std::vector< std::vector< bool > > &contact_schedule, int horizon_index, int foot_index) | LocalFootstepPlanner | inlineprivate |
| isNewContact(const std::vector< std::vector< bool > > &contact_schedule, int horizon_index, int foot_index) | LocalFootstepPlanner | inlineprivate |
| isNewLiftoff(const std::vector< std::vector< bool > > &contact_schedule, int horizon_index, int foot_index) | LocalFootstepPlanner | inlineprivate |
| LAND_STANCE | LocalFootstepPlanner | private |
| LEAP_STANCE | LocalFootstepPlanner | private |
| loadFootPlanMsgs(const std::vector< std::vector< bool > > &contact_schedule, int current_plan_index, double first_element_duration, const Eigen::MatrixXd &foot_positions, const Eigen::MatrixXd &foot_velocities, const Eigen::MatrixXd &foot_accelerations, quad_msgs::MultiFootPlanDiscrete &future_footholds_msg, quad_msgs::MultiFootPlanContinuous &foot_plan_continuous_msg) | LocalFootstepPlanner | |
| LocalFootstepPlanner() | LocalFootstepPlanner | |
| nominal_contact_schedule_ | LocalFootstepPlanner | private |
| num_feet_ | LocalFootstepPlanner | private |
| obj_fun_layer_ | LocalFootstepPlanner | private |
| period_ | LocalFootstepPlanner | private |
| phase_offsets_ | LocalFootstepPlanner | private |
| printContactSchedule(const std::vector< std::vector< bool > > &contact_schedule) (defined in LocalFootstepPlanner) | LocalFootstepPlanner | inline |
| quadKD_ | LocalFootstepPlanner | private |
| setSpatialParams(double ground_clearance, double hip_clearance, double grf_weight, double standing_error_threshold, std::shared_ptr< quad_utils::QuadKD > kinematics, double foothold_search_radius, double foothold_obj_threshold, std::string obj_fun_layer, double toe_radius) | LocalFootstepPlanner | |
| setTemporalParams(double dt, int period, int horizon_length, const std::vector< double > &duty_cycles, const std::vector< double > &phase_offsets) | LocalFootstepPlanner | |
| setTerrainMap(const grid_map::GridMap &grid_map) (defined in LocalFootstepPlanner) | LocalFootstepPlanner | inline |
| standing_error_threshold_ | LocalFootstepPlanner | private |
| terrain_ | LocalFootstepPlanner | private |
| terrain_grid_ | LocalFootstepPlanner | private |
| toe_radius_ | LocalFootstepPlanner | private |
| updateContinuousPlan() | LocalFootstepPlanner | private |
| updateMap(const FastTerrainMap &terrain) | LocalFootstepPlanner | |
| updateMap(const grid_map::GridMap &terrain) | LocalFootstepPlanner | |
| welzlMinimumCircle(std::vector< Eigen::Vector2d > P, std::vector< Eigen::Vector2d > R) | LocalFootstepPlanner | private |
1.9.8