champ

README

LibChamp

This is a port of the libchamp from the chvmp repository.

Original code can be found here: https://github.com/chvmp/libchamp/

Documentation

Index

• func KinematicsTransformToBase(footPosition cstructs.Transformation, quadLeg *cbase.QuadLeg) cstructs.Transformation
• func KinematicsTransformToHip(footPosition cstructs.Transformation, quadLeg *cbase.QuadLeg) cstructs.Transformation
• type BodyController
  • func (bodyController *BodyController) Init(quadBase *cbase.QuadBase) *BodyController
  • func (bodyController *BodyController) PoseCommand(footPositions [4]cstructs.Transformation, pose *cstructs.Pose) [4]cstructs.Transformation
• type Kinematics
  • func (kinematics *Kinematics) Init(quadBase *cbase.QuadBase) *Kinematics
  • func (kinematics *Kinematics) Inverse(jointPositions [12]float32, footPositions [4]cstructs.Transformation) [12]float32
• type LegController
  • func (legController *LegController) Init(quadBase *cbase.QuadBase, currentTime time.Time) *LegController
  • func (legController *LegController) RaibertHeuristic(stanceDuration float32, targetVelocity float32) float32
  • func (legController *LegController) TransformLeg(quadLeg *cbase.QuadLeg, stepLength float32, rotation float32, stepX float32, ...) (float32, float32)
  • func (legController *LegController) VelocityCommand(footPositions [4]cstructs.Transformation, velocities cstructs.Velocities, ...) ([4]cstructs.Transformation, cstructs.Velocities)
• type Odometry
  • func (odometry *Odometry) GetVelocities(velocities cstructs.Velocities, currentTime time.Time) cstructs.Velocities
  • func (odometry *Odometry) Init(quadBase *cbase.QuadBase, currentTime time.Time) *Odometry
• type PhaseGenerator
  • func (phaseGenerator *PhaseGenerator) Init(quadBase *cbase.QuadBase, currentTime time.Time) *PhaseGenerator
  • func (phaseGenerator *PhaseGenerator) Run(targetVelocity float32, stepLength float32, currentTime time.Time)
• type TrajectoryPlanner
  • func (trajectoryPlanner *TrajectoryPlanner) Generate(footPosition cstructs.Transformation, stepLength float32, rotation float32, ...) cstructs.Transformation
  • func (trajectoryPlanner *TrajectoryPlanner) Init(leg *cbase.QuadLeg) *TrajectoryPlanner
  • func (trajectoryPlanner *TrajectoryPlanner) UpdateControlPointsHeight(swingHeight float32)
  • func (trajectoryPlanner *TrajectoryPlanner) UpdateControlPointsLength(stepLength float32)

Functions

func KinematicsTransformToBase

func KinematicsTransformToBase(footPosition cstructs.Transformation, quadLeg *cbase.QuadLeg) cstructs.Transformation

func KinematicsTransformToHip

func KinematicsTransformToHip(footPosition cstructs.Transformation, quadLeg *cbase.QuadLeg) cstructs.Transformation

Types

type BodyController

type BodyController struct {
	// contains filtered or unexported fields
}

func (*BodyController) Init

func (bodyController *BodyController) Init(quadBase *cbase.QuadBase) *BodyController

func (*BodyController) PoseCommand

func (bodyController *BodyController) PoseCommand(footPositions [4]cstructs.Transformation, pose *cstructs.Pose) [4]cstructs.Transformation

type Kinematics

type Kinematics struct {
	// contains filtered or unexported fields
}

func (*Kinematics) Init

func (kinematics *Kinematics) Init(quadBase *cbase.QuadBase) *Kinematics

func (*Kinematics) Inverse

func (kinematics *Kinematics) Inverse(jointPositions [12]float32, footPositions [4]cstructs.Transformation) [12]float32

type LegController

type LegController struct {
	// contains filtered or unexported fields
}

func (*LegController) Init

func (legController *LegController) Init(quadBase *cbase.QuadBase, currentTime time.Time) *LegController

func (*LegController) RaibertHeuristic

func (legController *LegController) RaibertHeuristic(stanceDuration float32, targetVelocity float32) float32

func (*LegController) TransformLeg

func (legController *LegController) TransformLeg(quadLeg *cbase.QuadLeg, stepLength float32, rotation float32,
	stepX float32, stepY float32, theta float32) (float32, float32)

func (*LegController) VelocityCommand

func (legController *LegController) VelocityCommand(footPositions [4]cstructs.Transformation, velocities cstructs.Velocities,
	currentTime time.Time) ([4]cstructs.Transformation, cstructs.Velocities)

type Odometry

type Odometry struct {
	// contains filtered or unexported fields
}

func (*Odometry) GetVelocities

func (odometry *Odometry) GetVelocities(velocities cstructs.Velocities, currentTime time.Time) cstructs.Velocities

func (*Odometry) Init

func (odometry *Odometry) Init(quadBase *cbase.QuadBase, currentTime time.Time) *Odometry

type PhaseGenerator

type PhaseGenerator struct {
	// contains filtered or unexported fields
}

func (*PhaseGenerator) Init

func (phaseGenerator *PhaseGenerator) Init(quadBase *cbase.QuadBase, currentTime time.Time) *PhaseGenerator

func (*PhaseGenerator) Run

func (phaseGenerator *PhaseGenerator) Run(targetVelocity float32, stepLength float32, currentTime time.Time)

type TrajectoryPlanner

type TrajectoryPlanner struct {
	// contains filtered or unexported fields
}

func (*TrajectoryPlanner) Generate

func (trajectoryPlanner *TrajectoryPlanner) Generate(footPosition cstructs.Transformation, stepLength float32,
	rotation float32, swingPhaseSignal float32, stancePhaseSignal float32) cstructs.Transformation

func (*TrajectoryPlanner) Init

func (trajectoryPlanner *TrajectoryPlanner) Init(leg *cbase.QuadLeg) *TrajectoryPlanner

func (*TrajectoryPlanner) UpdateControlPointsHeight

func (trajectoryPlanner *TrajectoryPlanner) UpdateControlPointsHeight(swingHeight float32)

func (*TrajectoryPlanner) UpdateControlPointsLength

func (trajectoryPlanner *TrajectoryPlanner) UpdateControlPointsLength(stepLength float32)