LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_loco_ctrl_manager Namespace Reference

Manager of different locomotion controllers of ANYmal. More...

Classes

class  LocalGuidanceLocoCtrlManager
 
class  LocoCtrlInfoEthVersions
 
class  LocoCtrlInfoFreeGait
 
class  LocoCtrlInfoFreeze
 
class  LocoCtrlInfoInterface
 
class  LocoCtrlInfoLocoCrawling
 
class  LowLevelControllerInterface
 

Typedefs

using LocoCtrlInfoEthVersionsPtr = std::unique_ptr< LocoCtrlInfoEthVersions >
 
using LocoCtrlInfoFreeGaitPtr = std::unique_ptr< LocoCtrlInfoFreeGait >
 
using LocoCtrlInfoFreezePtr = std::unique_ptr< LocoCtrlInfoFreeze >
 
using LocomotionController = navigation_common::LocomotionControllerLocalGuidance
 
using LocoCtrlInfoInterfacePtr = std::unique_ptr< LocoCtrlInfoInterface >
 
using LocoCtrlInfoLocoCrawlingPtr = std::unique_ptr< LocoCtrlInfoLocoCrawling >
 

Enumerations

enum  LocoCtrlInfoTypes {
  LocoCtrlInfoTypes::kUnknown = 0, LocoCtrlInfoTypes::kEthVersions, LocoCtrlInfoTypes::kFreeGait, LocoCtrlInfoTypes::kFreeze,
  LocoCtrlInfoTypes::kLocoCrawling
}
 Hash values of controller info types. More...
 

Functions

const LocoCtrlInfoTypes getHashLocoCtrlInfoType (const std::string &controllerInfoClassName)
 

Variables

static ros::Duration kTimeoutServerClientWaitForExistence = ros::Duration(2.0)
 
const std::string kStringModeWalk = "walk"
 
const std::string kStringModeStand = "stand"
 
const double kTimeOutNewAttemptSwitchToGait = 0.5
 
const int kNumberOfAttemptsToSwitchGait = 3
 
const double kTimeOutNewAttemptSwitchMode = 0.5
 
const int kNumberOfAttemptsToSwitchMode = 5
 

Detailed Description

Manager of different locomotion controllers of ANYmal.

Implementation of an interface for low level controller of ANYmal.

Implementation of an interface for Loco Crawling locomotion controller.

Definition of an interface for different locomotion controllers of ANYmal.

Implementation of an interface for Freeze locomotion controller.

Implementation of an interface for Free Gait locomotion controller.

Implementation of an interface for "ETH" versions of locomotion controllers (i.e. trot_ros and static_walk).

Common variables and functions across this package.

Authors
Marco Tranzatto RSL

Typedef Documentation

Enumeration Type Documentation

Hash values of controller info types.

Enumerator
kUnknown 
kEthVersions 
kFreeGait 
kFreeze 
kLocoCrawling 

Function Documentation

const LocoCtrlInfoTypes local_guidance_loco_ctrl_manager::getHashLocoCtrlInfoType ( const std::string &  controllerInfoClassName)
inline

Returns the hash value of a locomotion controller info class, based on its name.

Parameters
[in]controllerInfoClassNamename of the info class, as specified in YAML file.
Returns
controller hash as LocoCtrlInfoTypes.

Variable Documentation

const int local_guidance_loco_ctrl_manager::kNumberOfAttemptsToSwitchGait = 3
const int local_guidance_loco_ctrl_manager::kNumberOfAttemptsToSwitchMode = 5
const std::string local_guidance_loco_ctrl_manager::kStringModeStand = "stand"
const std::string local_guidance_loco_ctrl_manager::kStringModeWalk = "walk"
const double local_guidance_loco_ctrl_manager::kTimeOutNewAttemptSwitchMode = 0.5
const double local_guidance_loco_ctrl_manager::kTimeOutNewAttemptSwitchToGait = 0.5
ros::Duration local_guidance_loco_ctrl_manager::kTimeoutServerClientWaitForExistence = ros::Duration(2.0)
static