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add an interface for multi legs footsteps #795

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Aug 26, 2015
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add an interface for multi legs footsteps #795

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52 changes: 36 additions & 16 deletions hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -747,37 +747,57 @@
(:set-foot-steps-no-wait
(foot-step-list &key (overwrite-footstep-index 0))
"Set foot step by default parameters and do not wait for step finish.
foot-step-list is list of footsteps.
foot-step-list is list of footstep (only biped) or list of list of footstep.
overwrite-footstep-index is index to be overwritten. overwrite_fs_idx is used only in walking."
(unless (listp (car foot-step-list))
(setq foot-step-list (mapcar #'(lambda (fs) (list fs)) foot-step-list)))
(send self :autobalancerservice_setfootsteps
:fs
(mapcar #'(lambda (f)
(send self :eus-footstep->abc-footstep f))
:fss
(mapcar #'(lambda (fs)
(instance hrpsys_ros_bridge::openhrp_autobalancerservice_footsteps :init
:fs
(mapcar #'(lambda (f)
(send self :eus-footstep->abc-footstep f))
fs)))
foot-step-list)
:overwrite_fs_idx overwrite-footstep-index))
(:set-foot-steps
(foot-step-list &key (overwrite-footstep-index 0))
"Set foot step by default parameters and wait for step finish.
foot-step-list is list of footsteps.
foot-step-list is list of footstep (only biped) or list of list of footstep.
overwrite-footstep-index is index to be overwritten. overwrite_fs_idx is used only in walking."
(send self :set-foot-steps-no-wait foot-step-list :overwrite-footstep-index overwrite-footstep-index)
(send self :wait-foot-steps))
(:set-foot-steps-with-param-no-wait
(foot-step-list step-height-list step-time-list toe-angle-list heel-angle-list &key (overwrite-footstep-index 0))
"Set foot step with step parameter and do not wait for step finish.
foot-step-list is list of footsteps.
step-height-list is list of step height.
step-time-list is list of step time.
toe-angle-list is list of toe angle.
heel-angle-list is list of heel angle."
foot-step-list is list of footstep (only biped) or list of list of footstep.
step-height-list is list of step height (only biped) or list of list of step height.
step-time-list is list of step time (only biped) or list of list of step time.
toe-angle-list is list of toe angle (only biped) or list of list of toe angle.
heel-angle-list is list of heel angle (only biped) or list of list of heel angle."
(unless (listp (car foot-step-list))
(setq foot-step-list (mapcar #'(lambda (fs) (list fs)) foot-step-list)
step-height-list (mapcar #'(lambda (sh) (list sh)) step-height-list)
step-time-list (mapcar #'(lambda (st) (list st)) step-time-list)
toe-angle-list (mapcar #'(lambda (ta) (list ta)) toe-angle-list)
heel-angle-list (mapcar #'(lambda (ha) (list ha)) heel-angle-list)))
(send self :autobalancerservice_setfootstepswithparam
:fs
(mapcar #'(lambda (f)
(send self :eus-footstep->abc-footstep f))
:fss
(mapcar #'(lambda (fs)
(instance hrpsys_ros_bridge::openhrp_autobalancerservice_footsteps :init
:fs
(mapcar #'(lambda (f)
(send self :eus-footstep->abc-footstep f))
fs)))
foot-step-list)
:sps
(mapcar #'(lambda (sh st ta ha)
(instance hrpsys_ros_bridge::openhrp_autobalancerservice_stepparam :init :step_height (* sh 1e-3) :step_time st :toe_angle ta :heel_angle ha))
:spss
(mapcar #'(lambda (shs sts tas has)
(instance hrpsys_ros_bridge::openhrp_autobalancerservice_stepparams :init
:sps
(mapcar #'(lambda (sh st ta ha)
(instance hrpsys_ros_bridge::openhrp_autobalancerservice_stepparam :init :step_height (* sh 1e-3) :step_time st :toe_angle ta :heel_angle ha))
shs sts tas has)))
step-height-list step-time-list toe-angle-list heel-angle-list)
:overwrite_fs_idx overwrite-footstep-index
))
Expand Down