import"AutoBalancerService.idl";

Classes
struct	AutoBalancerParam
	Parameters for AutoBalancer. More...

struct	Footstep
	Foot step for one leg. More...

struct	FootstepParam
	Foot step parameters. More...

struct	Footsteps
	Foot step for multi legs. More...

struct	GaitGeneratorParam
	Parameters for GaitGenerator. More...

struct	IKLimbParameters

struct	StepParam
	Step parameter for one step. More...

struct	StepParams
	Step parameters for multi step. More...

Public Types
enum	SupportLegState { RLEG, LLEG, BOTH }
	State of support leg. More...

enum	OrbitType { SHUFFLING, CYCLOID, RECTANGLE, STAIR, CYCLOIDDELAY, CYCLOIDDELAYKICK, CROSS }
	Orbit type of swing foot. More...

enum	GaitType { BIPED, TROT, PACE, CRAWL, GALLOP }
	Gait type. More...

enum	ControllerMode { MODE_IDLE, MODE_ABC, MODE_SYNC_TO_IDLE, MODE_SYNC_TO_ABC }
	Mode of controller. More...

enum	UseForceMode { MODE_NO_FORCE, MODE_REF_FORCE, MODE_REF_FORCE_WITH_FOOT, MODE_REF_FORCE_RFU_EXT_MOMENT }
	Mode of use_force. More...

enum	StrideLimitationType { SQUARE, CIRCLE }
	Type of stride limitation. More...

typedef sequence< double, 3 >	DblSequence3

typedef double	DblArray2[2]

typedef double	DblArray3[3]

typedef double	DblArray4[4]

typedef double	DblArray5[5]

typedef sequence< Footstep >	FootstepSequence

typedef sequence< StepParam >	StepParamSequence

typedef sequence< Footsteps >	FootstepsSequence

typedef sequence< StepParams >	StepParamsSequence

typedef sequence< string >	StrSequence

Public Member Functions
boolean	goPos (in double x, in double y, in double th)
	Walk to the goal position and orientation. More...

boolean	goVelocity (in double vx, in double vy, in double vth)
	Walk at the desired velocity. More...

boolean	goStop ()
	Stop stepping. More...

boolean	emergencyStop ()
	Stop stepping immediately. More...

boolean	setFootSteps (in FootstepsSequence fss, in long overwrite_fs_idx)
	Set footsteps. More...

boolean	setFootStepsWithParam (in FootstepsSequence fss, in StepParamsSequence spss, in long overwrite_fs_idx)
	Set footsteps. More...

void	waitFootSteps ()
	Wait for whole footsteps are executed. More...

void	waitFootStepsEarly (in double tm)
	Wait for whole footsteps are executed. More...

boolean	startAutoBalancer (in StrSequence limbs)
	Start AutoBalancer mode in which the robot controls the COM. More...

boolean	stopAutoBalancer ()
	Stop AutoBalancer mode. More...

boolean	setGaitGeneratorParam (in GaitGeneratorParam i_param)
	Set GaitGenerator parameters. More...

boolean	getGaitGeneratorParam (out GaitGeneratorParam i_param)
	Get GaitGenerator parameters. More...

boolean	setAutoBalancerParam (in AutoBalancerParam i_param)
	Set AutoBalancer parameters. More...

boolean	getAutoBalancerParam (out AutoBalancerParam i_param)
	Get AutoBalancer parameters. More...

boolean	getFootstepParam (out FootstepParam i_param)
	Get footstep parameters. More...

boolean	adjustFootSteps (in Footstep rfootstep, in Footstep lfootstep)
	Adjust Footsteps. More...

boolean	getRemainingFootstepSequence (out FootstepSequence o_footstep, out long o_current_fs_idx)
	Get remaining footstep list. More...

boolean	getGoPosFootstepsSequence (in double x, in double y, in double th, out FootstepsSequence o_footstep)
	Get GoPos Footstep list. More...

boolean	releaseEmergencyStop ()
	Release emergency stop mode. More...

Member Typedef Documentation

typedef double OpenHRP::AutoBalancerService::DblArray2[2]

typedef double OpenHRP::AutoBalancerService::DblArray3[3]

typedef double OpenHRP::AutoBalancerService::DblArray4[4]

typedef double OpenHRP::AutoBalancerService::DblArray5[5]

typedef sequence<double, 3> OpenHRP::AutoBalancerService::DblSequence3

typedef sequence<Footstep> OpenHRP::AutoBalancerService::FootstepSequence

typedef sequence<Footsteps> OpenHRP::AutoBalancerService::FootstepsSequence

typedef sequence<StepParam> OpenHRP::AutoBalancerService::StepParamSequence

typedef sequence<StepParams> OpenHRP::AutoBalancerService::StepParamsSequence

typedef sequence<string> OpenHRP::AutoBalancerService::StrSequence

Member Enumeration Documentation

enum OpenHRP::AutoBalancerService::ControllerMode

Mode of controller.

Enumerator
MODE_IDLE
MODE_ABC
MODE_SYNC_TO_IDLE
MODE_SYNC_TO_ABC

enum OpenHRP::AutoBalancerService::GaitType

Gait type.

Enumerator
BIPED
TROT
PACE
CRAWL
GALLOP

enum OpenHRP::AutoBalancerService::OrbitType

Orbit type of swing foot.

Enumerator
SHUFFLING
CYCLOID
RECTANGLE
STAIR
CYCLOIDDELAY
CYCLOIDDELAYKICK
CROSS

enum OpenHRP::AutoBalancerService::StrideLimitationType

Type of stride limitation.

Enumerator
SQUARE
CIRCLE

enum OpenHRP::AutoBalancerService::SupportLegState

State of support leg.

Enumerator
RLEG
LLEG
BOTH

enum OpenHRP::AutoBalancerService::UseForceMode

Mode of use_force.

Enumerator
MODE_NO_FORCE	Mode in which robot's COG is not changed according to force/moment values.
MODE_REF_FORCE	Mode in which robot's COG is changed according to sensors' force/moment values.
MODE_REF_FORCE_WITH_FOOT	Mode in which robot's COG is changed according to sensors' force/moment values for hands and feet (and root-link)
MODE_REF_FORCE_RFU_EXT_MOMENT	Mode in which robot's COG is changed according to sensors' force/moment values using ReferenceForceUpdater's ext moment.

Member Function Documentation

boolean OpenHRP::AutoBalancerService::adjustFootSteps	(	in Footstep	rfootstep,
		in Footstep	lfootstep
	)

Adjust Footsteps.

Parameters

boolean OpenHRP::AutoBalancerService::emergencyStop ( )

Stop stepping immediately.

Parameters

boolean OpenHRP::AutoBalancerService::getAutoBalancerParam ( out AutoBalancerParam i_param )

Get AutoBalancer parameters.

Parameters

i_param is output parameters

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::getFootstepParam ( out FootstepParam i_param )

Get footstep parameters.

Parameters

i_param is output parameters

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::getGaitGeneratorParam ( out GaitGeneratorParam i_param )

Get GaitGenerator parameters.

Parameters

i_param is output parameters

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::getGoPosFootstepsSequence	(	in double	x,
		in double	y,
		in double	th,
		out FootstepsSequence	o_footstep
	)

Get GoPos Footstep list.

Parameters

i_x[m],i_y[m],and i_th[deg] are goal x-y-position and z-orientation from the current mid-coords of right foot and left foot. o_footstep is footstep sequence.

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::getRemainingFootstepSequence	(	out FootstepSequence	o_footstep,
		out long	o_current_fs_idx
	)

Get remaining footstep list.

Parameters

o_footstep is remaining footstep sequence. For example, if initial footsteps are [rfoot(0), lfoot(1), ..., rfoot(N-1)] (rfoot(0) is initial support foot and lfoot(1) is initial swing destination foot) and current support foot is lfoot(X-1), o_footstep is [rfoot(X), lfoot(X+1), ..., rfoot(N)]. o_current_fs_idx is current footstep index X.

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::goPos	(	in double	x,
		in double	y,
		in double	th
	)

Walk to the goal position and orientation.

Returns without waiting for whole steps to be executed.

Parameters

i_x[m],i_y[m],and i_th[deg] are goal x-y-position and z-orientation from the current mid-coords of right foot and left foot.

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::goStop ( )

Stop stepping.

Parameters

boolean OpenHRP::AutoBalancerService::goVelocity	(	in double	vx,
		in double	vy,
		in double	vth
	)

Walk at the desired velocity.

If the robot is stopping, the robot starts stepping. Returns without waiting for whole steps to be executed.

Parameters

i_vx[m/s],i_vy[m/s],and i_vth[deg/s] are velocity in the current mid-coords of right foot and left foot.

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::releaseEmergencyStop ( )

Release emergency stop mode.

Parameters

boolean OpenHRP::AutoBalancerService::setAutoBalancerParam ( in AutoBalancerParam i_param )

Set AutoBalancer parameters.

Parameters

i_param is input parameter

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::setFootSteps	(	in FootstepsSequence	fss,
		in long	overwrite_fs_idx
	)

Set footsteps.

Returns without waiting for whole steps to be executed.

Parameters

fss	is sequence of FootStep structure. overwrite_fs_idx is index to be overwritten. overwrite_fs_idx is used only in walking.

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::setFootStepsWithParam	(	in FootstepsSequence	fss,
		in StepParamsSequence	spss,
		in long	overwrite_fs_idx
	)

Set footsteps.

Returns without waiting for whole steps to be executed.

Parameters

fss	is sequence of FootStepWithParam structure. overwrite_fs_idx is index to be overwritten. overwrite_fs_idx is used only in walking.

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::setGaitGeneratorParam ( in GaitGeneratorParam i_param )

Set GaitGenerator parameters.

Parameters

i_param is input parameter

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::startAutoBalancer ( in StrSequence limbs )

Start AutoBalancer mode in which the robot controls the COM.

Parameters

limbs is sequence of limbs to fix. limbs are :rleg, :lleg, :rarm, and :larm

Returns: true if set successfully, false otherwise

boolean OpenHRP::AutoBalancerService::stopAutoBalancer ( )

Stop AutoBalancer mode.

Parameters

void OpenHRP::AutoBalancerService::waitFootSteps ( )

Wait for whole footsteps are executed.

Parameters

void OpenHRP::AutoBalancerService::waitFootStepsEarly ( in double tm )

Wait for whole footsteps are executed.

Parameters

tm	is early time from stepping finish

Returns: true if set successfully, false otherwise

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

AutoBalancerService.idl

Classes

Public Types

Public Member Functions

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation