Class DynupEngine

Defined in File dynup_engine.hpp

Inheritance Relationships

Base Type

public bitbots_splines::AbstractEngine< DynupRequest, DynupResponse >

Class Documentation

class bitbots_dynup::DynupEngine : public bitbots_splines::AbstractEngine<DynupRequest, DynupResponse>

Public Functions

explicit DynupEngine(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Engine params)

void init(double arm_offset_y, double arm_offset_z)

DynupResponse update(double dt) override

void setGoals(const DynupRequest &goals) override

void publishDebug()

int getPercentDone() const override

double getDuration() const

DynupDirection getDirection()

bool isStabilizingNeeded()

bool isHeadZero()

bitbots_splines::PoseSpline getRFootSplines() const

bitbots_splines::PoseSpline getLHandSplines() const

bitbots_splines::PoseSpline getRHandSplines() const

bitbots_splines::PoseSpline getLFootSplines() const

void setParams(bitbots_dynup::Params::Engine params)

void reset() override

void reset(double time)

void publishArrowMarker(std::string name_space, std::string frame, geometry_msgs::msg::Pose pose, float r, float g, float b, float a)

Private Functions

geometry_msgs::msg::PoseStamped getCurrentPose(bitbots_splines::PoseSpline spline, std::string frame_id)

bitbots_splines::PoseSpline initializeSpline(geometry_msgs::msg::Pose pose, bitbots_splines::PoseSpline spline)

double calcFrontSplines()

double calcBackSplines()

double calcWalkreadySplines(double time = 0, double travel_time = 0)

double calcDescendSplines(double time = 0)

Private Members

rclcpp::Node::SharedPtr node_

bitbots_dynup::Params::Engine params_

int marker_id_ = 1

double time_ = 0

double duration_ = 0

double arm_offset_y_ = 0

double arm_offset_z_ = 0

tf2::Transform offset_left_

tf2::Transform offset_right_

DynupDirection direction_ = DynupDirection::WALKREADY 

bitbots_splines::PoseSpline l_foot_spline_

bitbots_splines::PoseSpline l_hand_spline_

bitbots_splines::PoseSpline r_foot_spline_

bitbots_splines::PoseSpline r_hand_spline_

DynupResponse goals_

std::shared_ptr<rclcpp::Node> walking_param_node_

std::shared_ptr<rclcpp::SyncParametersClient> walking_param_client_

rclcpp::Publisher<bitbots_dynup::msg::DynupEngineDebug>::SharedPtr pub_engine_debug_

rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub_debug_marker_