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• LegFrame

C# 클래스 LegFrame, promenade

파일 보기 프로젝트 열기: jarllarsson/promenade 1 사용 예제들

공개 프로퍼티들

프로퍼티	타입	설명
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

공개 메소드들

메소드	설명
Awake ( ) : void
ConsumeParams ( List p_params ) : void
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, Rigidbody p_legSegment ) : void
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

비공개 메소드들

메소드	설명
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 &p_stanceLegs, List &p_swingLegs ) : void
updateFootStrikePosition ( int p_idx, float p_phi, Vector3 p_velocity, Vector3 p_desiredVelocity ) : void
updateFootSwingPosition ( int p_idx, float p_phi ) : void

메소드 상세

프로퍼티 상세