C# Class LegFrame, promenade

Inheritance: MonoBehaviour, IOptimizable

显示文件 Open project: jarllarsson/promenade Class Usage Examples

Public Properties

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

Public Methods

Method	Description
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

Private Methods

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 &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

Method Details

Awake() public method

public Awake ( ) : void
return	void

ConsumeParams() public method

public ConsumeParams ( List p_params ) : void
p_params	List
return	void

GetParams() public method

public GetParams ( ) : List
return	List

GetParamsMax() public method

public GetParamsMax ( ) : List
return	List

GetParamsMin() public method

public GetParamsMin ( ) : List
return	List

OnDrawGizmos() public method

public OnDrawGizmos ( ) : void
return	void

OptimizePDs() public method

public OptimizePDs ( bool p_opt ) : void
p_opt	bool
return	void

Start() public method

public Start ( ) : void
return	void

Update() public method

public Update ( ) : void
return	void

applyNetLegFrameTorque() public method

public applyNetLegFrameTorque ( Vector3 p_currentTorques, float p_phi ) : Vector3[]
p_currentTorques	Vector3
p_phi	float
return	Vector3[]

calculateFgravcomp() public method

public calculateFgravcomp ( int p_legSegmentId, Rigidbody p_legSegment ) : void
p_legSegmentId	int
p_legSegment	UnityEngine.Rigidbody
return	void

calculateFh() public method

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

calculateFsw() public method

public calculateFsw ( int p_legId, float p_phi ) : void
p_legId	int
p_phi	float
return	void

calculateFv() public method

public calculateFv ( Vector3 p_currentVelocity, Vector3 p_desiredVelocity ) : void
p_currentVelocity	Vector3
p_desiredVelocity	Vector3
return	void

calculateNetLegVF() public method

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

getCurrentDesiredOrientation() public method

public getCurrentDesiredOrientation ( float p_phi ) : Quaternion
p_phi	float
return	Quaternion

getGraphedFootPos() public method

public getGraphedFootPos ( int p_idx ) : float
p_idx	int
return	float

getOptimalProgress() public method

public getOptimalProgress ( ) : float
return	float

getReferenceFootPos() public method

public getReferenceFootPos ( int p_idx ) : Vector3
p_idx	int
return	Vector3

getReferenceLiftPos() public method

public getReferenceLiftPos ( int p_idx ) : Vector3
p_idx	int
return	Vector3

isInControlledStance() public method

public isInControlledStance ( int p_idx, float p_phi ) : bool
p_idx	int
p_phi	float
return	bool

tempApplyFootTorque() public method

public tempApplyFootTorque ( float p_phi ) : void
p_phi	float
return	void

updateFeet() public method

public updateFeet ( float p_phi, Vector3 p_velocity, Vector3 p_desiredVelocity ) : void
p_phi	float
p_velocity	Vector3
p_desiredVelocity	Vector3
return	void

updateReferenceFeetPositions() public method

public updateReferenceFeetPositions ( float p_phi, float p_t, Vector3 p_goalVelocity ) : void
p_phi	float
p_t	float
p_goalVelocity	Vector3
return	void

Property Details

c_legCount public_oe static_oe property

public static int c_legCount
return	int

m_FootTrackingSpringDamper public_oe property

public PID, m_FootTrackingSpringDamper
return	PID,

m_desiredLFTorquePD public_oe property

public PIDn, m_desiredLFTorquePD
return	PIDn,

m_feet public_oe property

public FootStrikeChecker[], m_feet
return	FootStrikeChecker[],

m_footLiftPlacement public_oe property

public Vector3[] m_footLiftPlacement
return	Vector3[]

m_footLiftPlacementPerformed public_oe property

public bool[] m_footLiftPlacementPerformed
return	bool[]

m_footStrikePlacement public_oe property

public Vector3[] m_footStrikePlacement
return	Vector3[]

m_footTarget public_oe property

public Vector3[] m_footTarget
return	Vector3[]

m_heightForceCalc public_oe property

public PID, m_heightForceCalc
return	PID,

m_id public_oe property

public int m_id
return	int

m_lateStrikeOffsetDeltaH public_oe property

public float m_lateStrikeOffsetDeltaH
return	float

m_legJointIds public_oe property

public int[] m_legJointIds
return	int[]

m_legSegmentGravityCompVirtualForces public_oe property

public Vector3[] m_legSegmentGravityCompVirtualForces
return	Vector3[]

m_neighbourJointIds public_oe property

public int[] m_neighbourJointIds
return	int[]

m_netLegBaseVirtualForces public_oe property

public Vector3[] m_netLegBaseVirtualForces
return	Vector3[]

m_tuneFootPlacementVelocityScale public_oe property

public float m_tuneFootPlacementVelocityScale
return	float

m_tuneFootTransitionEase public_oe property

public PcswiseLinear, m_tuneFootTransitionEase
return	PcswiseLinear,

m_tuneHeightForcePIDKp public_oe property

public float m_tuneHeightForcePIDKp
return	float

m_tuneLFHeightTraj public_oe property

public PcswiseLinear, m_tuneLFHeightTraj
return	PcswiseLinear,

m_tuneOrientationLFTraj public_oe property

public PcswiseLinear[], m_tuneOrientationLFTraj
return	PcswiseLinear[],

m_tunePropGainFootTrackingKft public_oe property

public PcswiseLinear, m_tunePropGainFootTrackingKft
return	PcswiseLinear,

m_tuneStepCycles public_oe property

public StepCycle[], m_tuneStepCycles
return	StepCycle[],

m_tuneStepHeightTraj public_oe property

public PcswiseLinear, m_tuneStepHeightTraj
return	PcswiseLinear,

m_tuneStepLength public_oe property

public Vector2 m_tuneStepLength
return	Vector2

m_tuneVelocityRegulatorKv public_oe property

public float m_tuneVelocityRegulatorKv
return	float