Property | Type | Description | |
---|---|---|---|
c_legCount | int | ||
m_FootTrackingSpringDamper | PID, | ||
m_desiredLFTorquePD | PIDn, | ||
m_feet | FootStrikeChecker[], | ||
m_footLiftPlacement | Vector3[] | ||
m_footLiftPlacementPerformed | bool[] | ||
m_footStrikePlacement | Vector3[] | ||
m_footTarget | Vector3[] | ||
m_heightForceCalc | PID, | ||
m_id | int | ||
m_lateStrikeOffsetDeltaH | float | ||
m_legJointIds | int[] | ||
m_legSegmentGravityCompVirtualForces | Vector3[] | ||
m_neighbourJointIds | int[] | ||
m_netLegBaseVirtualForces | Vector3[] | ||
m_tuneFootPlacementVelocityScale | float | ||
m_tuneFootTransitionEase | PcswiseLinear, | ||
m_tuneHeightForcePIDKp | float | ||
m_tuneLFHeightTraj | PcswiseLinear, | ||
m_tuneOrientationLFTraj | PcswiseLinear[], | ||
m_tunePropGainFootTrackingKft | PcswiseLinear, | ||
m_tuneStepCycles | StepCycle[], | ||
m_tuneStepHeightTraj | PcswiseLinear, | ||
m_tuneStepLength | Vector2 | ||
m_tuneVelocityRegulatorKv | float |
Method | Description | |
---|---|---|
Awake ( ) : void | ||
ConsumeParams ( List |
||
GetParams ( ) : List |
||
GetParamsMax ( ) : List |
||
GetParamsMin ( ) : List |
||
OnDrawGizmos ( ) : void | ||
OptimizePDs ( bool p_opt ) : void | ||
Start ( ) : void | ||
Update ( ) : void | ||
applyNetLegFrameTorque ( Vector3 p_currentTorques, float p_phi ) : Vector3[] | ||
calculateFgravcomp ( int p_legSegmentId, |
||
calculateFh ( float p_phi, float p_currentH, float p_dt, Vector3 p_up ) : void | ||
calculateFsw ( int p_legId, float p_phi ) : void | ||
calculateFv ( Vector3 p_currentVelocity, Vector3 p_desiredVelocity ) : void | ||
calculateNetLegVF ( float p_phi, float p_dt, Vector3 p_currentVelocity, Vector3 p_desiredVelocity ) : void | ||
getCurrentDesiredOrientation ( float p_phi ) : Quaternion | ||
getGraphedFootPos ( int p_idx ) : float | ||
getOptimalProgress ( ) : float | ||
getReferenceFootPos ( int p_idx ) : Vector3 | ||
getReferenceLiftPos ( int p_idx ) : Vector3 | ||
isInControlledStance ( int p_idx, float p_phi ) : bool | ||
tempApplyFootTorque ( float p_phi ) : void | ||
updateFeet ( float p_phi, Vector3 p_velocity, Vector3 p_desiredVelocity ) : void | ||
updateReferenceFeetPositions ( float p_phi, float p_t, Vector3 p_goalVelocity ) : void |
Method | Description | |
---|---|---|
calculateFD ( int p_legId ) : Vector3 | ||
calculateStanceLegVF ( int p_legId, int p_stanceLegCount ) : Vector3 | ||
calculateSwingLegVF ( int p_legId ) : Vector3 | ||
calculateVelocityScaledFootPos ( Vector3 p_footPosLF, Vector3 p_velocity, Vector3 p_desiredVelocity ) : Vector3 | ||
drawLegEstimation ( ) : void | ||
getFootTransitionPhase ( float p_swingPhi ) : float | ||
getPDTorque ( Quaternion p_desiredOrientation ) : Vector3 | ||
offsetFootTargetDownOnLateStrike ( int p_idx ) : void | ||
projectFootPosToGround ( Vector3 p_footPosLF ) : Vector3 | ||
separateLegsPerPhase ( float p_phi, List |
||
updateFootStrikePosition ( int p_idx, float p_phi, Vector3 p_velocity, Vector3 p_desiredVelocity ) : void | ||
updateFootSwingPosition ( int p_idx, float p_phi ) : void |
public ConsumeParams ( List |
||
p_params | List |
|
return | void |
public applyNetLegFrameTorque ( Vector3 p_currentTorques, float p_phi ) : Vector3[] | ||
p_currentTorques | Vector3 | |
p_phi | float | |
return | Vector3[] |
public calculateFgravcomp ( int p_legSegmentId, |
||
p_legSegmentId | int | |
p_legSegment | ||
return | void |
public calculateFh ( float p_phi, float p_currentH, float p_dt, Vector3 p_up ) : void | ||
p_phi | float | |
p_currentH | float | |
p_dt | float | |
p_up | Vector3 | |
return | void |
public calculateFsw ( int p_legId, float p_phi ) : void | ||
p_legId | int | |
p_phi | float | |
return | void |
public calculateFv ( Vector3 p_currentVelocity, Vector3 p_desiredVelocity ) : void | ||
p_currentVelocity | Vector3 | |
p_desiredVelocity | Vector3 | |
return | void |
public calculateNetLegVF ( float p_phi, float p_dt, Vector3 p_currentVelocity, Vector3 p_desiredVelocity ) : void | ||
p_phi | float | |
p_dt | float | |
p_currentVelocity | Vector3 | |
p_desiredVelocity | Vector3 | |
return | void |
public getCurrentDesiredOrientation ( float p_phi ) : Quaternion | ||
p_phi | float | |
return | Quaternion |
public getGraphedFootPos ( int p_idx ) : float | ||
p_idx | int | |
return | float |
public getReferenceFootPos ( int p_idx ) : Vector3 | ||
p_idx | int | |
return | Vector3 |
public getReferenceLiftPos ( int p_idx ) : Vector3 | ||
p_idx | int | |
return | Vector3 |
public isInControlledStance ( int p_idx, float p_phi ) : bool | ||
p_idx | int | |
p_phi | float | |
return | bool |
public tempApplyFootTorque ( float p_phi ) : void | ||
p_phi | float | |
return | void |
public updateFeet ( float p_phi, Vector3 p_velocity, Vector3 p_desiredVelocity ) : void | ||
p_phi | float | |
p_velocity | Vector3 | |
p_desiredVelocity | Vector3 | |
return | void |
public updateReferenceFeetPositions ( float p_phi, float p_t, Vector3 p_goalVelocity ) : void | ||
p_phi | float | |
p_t | float | |
p_goalVelocity | Vector3 | |
return | void |
public bool[] m_footLiftPlacementPerformed | ||
return | bool[] |
public Vector3[] m_legSegmentGravityCompVirtualForces | ||
return | Vector3[] |
public Vector3[] m_netLegBaseVirtualForces | ||
return | Vector3[] |
public float m_tuneFootPlacementVelocityScale | ||
return | float |
public PcswiseLinear, m_tuneFootTransitionEase | ||
return | PcswiseLinear, |
public PcswiseLinear, m_tuneLFHeightTraj | ||
return | PcswiseLinear, |
public PcswiseLinear[], m_tuneOrientationLFTraj | ||
return | PcswiseLinear[], |
public PcswiseLinear, m_tunePropGainFootTrackingKft | ||
return | PcswiseLinear, |
public PcswiseLinear, m_tuneStepHeightTraj | ||
return | PcswiseLinear, |