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# Modules/WalkingEngine/InvKinWalkingParameterSets.h

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    00001 /**
    00002 * @file InvKinWalkingParameterSets.h
    00003 *
    00004 * This file contains different
    00005 * parameter sets for the
    00006 * InvKinWalkingEngine
    00007 *
    00008 * @author Max Risler
    00009 */
    00010
    00011 /**
    00012  *      \   ^__^
    00013  *       \  (oo)\_______
    00014  *          (__)\       )\/\*
    00015  *              ||----w |
    00016  *              ||     ||
    00017  */
    00018
    00019 #ifndef __InvKinWalkingParametersSets_h_
    00020 #define __InvKinWalkingParametersSets_h_
    00021
    00022 #include "InvKinWalkingParameters.h"
    00023
    00024 /**
    00025 * @class UpsideDownWalkingParameters
    00026 * Parameters for InvKinWalkingEngine that let robot walk upside down.
    00027 * Completely useless but looks funny
    00028 * @author Max Risler
    00029 */
    00030 class UpsideDownWalkingParameters : public InvKinWalkingParameters
    00031 {
    00032 public:
    00033   UpsideDownWalkingParameters() : InvKinWalkingParameters(
    00034     "UpsideDown",
    00035     //footMode
    00036     0, //rectangle
    00037     //foreHeight,foreWidth,foreCenterX
    00038     //old kinematics:-95, 90,  50,
    00039     -103.2, 97.4, 55.8,
    00040     //hindHeight,hindWidth,hindCenterX
    00041     //old kinematics:-95, 90, -50,
    00042     -104.4, 99.4, -56.6,
    00043     //foreFootLift,hindFootLift
    00044     -20, -20,
    00045     //foreFootTilt,hindFootTilt
    00046     //old kinematics:0, 0,
    00047     0.34, 0.11,
    00048     //legSpeedFactorX/Y/R
    00049     1.01, 1.5, 1.0,
    00050     //maxStepSizeX/Y
    00051     //old kinematics: 43.4, 20.0,
    00052     40, 30,
    00053     //maxSpeedChangeX/Y,maxRotationChange
    00054     100.0, 100.0, 1.0,
    00055     //counterRotation
    00056     //old kinematics: 0.1,
    00057     0.14,
    00058     //stepLen
    00059     120,
    00060     //groundPhaseF,LiftPhaseF,LowerPhaseF
    00061     0.5, 0.06, 0.06,
    00062     //groundPhaseH,LiftPhaseH,LowerPhaseH
    00063     0.5, 0.06, 0.06,
    00064     //legPhase
    00065     0, 0.5, 0.5, 0,
    00066     //bodyShiftX/Y, bodyShiftOffset, bodyTiltOffset
    00067     0, 0, 0, 0,
    00068     //leaveAnytime
    00069     0,
    00070     //headTilt
    00071     -1500000,
    00072     //headPan
    00073     0,
    00074     //headRoll
    00075     0,
    00076     //mouth
    00077     0
    00078     )
    00079   {}
    00080 };
    00081
    00082
    00083 /**
    00084 * @class TurnKickWalkingParameters
    00085 * Parameters for InvKinWalkingEngine
    00086 * @author Matthias Jüngel
    00087 */
    00088 class TurnKickWalkingParameters : public InvKinWalkingParameters
    00089 {
    00090 public:
    00091   TurnKickWalkingParameters() : InvKinWalkingParameters(
    00092     "TurnKick",
    00093     //footMode
    00094     0, //rectangle
    00095     //foreHeight,foreWidth,foreCenterX
    00096     76.5308, 78.1, 85.0,
    00097     //hindHeight,hindWidth,hindCenterX
    00098     108.72, 76.95, -49.56,
    00099     //foreFootLift,hindFootLift
    00100     5, 24,
    00101     //foreFootTilt,hindFootTilt
    00102     -0.25, 0.0450392,
    00103     //legSpeedFactorX/Y/R
    00104     1.1, 1.13782, 1.19384,
    00105     //maxStepSizeX/Y
    00106     38, 43.0719,
    00107     //maxSpeedChangeX/Y,maxRotationChange
    00108     100.0, 100.0, 1.0,
    00109     //counterRotation
    00110     0.055,
    00111     //stepLen
    00112     77,
    00113     //groundPhaseF,LiftPhaseF,LowerPhaseF
    00114     0.5, 0.06, 0.06,
    00115     //groundPhaseH,LiftPhaseH,LowerPhaseH
    00116     0.5, 0.06, 0.06,
    00117     //legPhase
    00118     0, 0.5, 0.5, 0,
    00119     //bodyShiftX/Y, bodyShiftOffset, bodyTiltOffset
    00120     0.800923, 0, 0, 0,
    00121     //leaveAnytime
    00122     1
    00123     )
    00124   {
    00125   }
    00126 };
    00127
    00128
    00129 /**
    00130  * @class   MSH2004WalkingParameters
    00131  * @author  Thomas Kindler <thomas.kindler@gmx.de>
    00132  *
    00133  * 34cm/s walk, 10.03.2004
    00134  */
    00135 class MSH2004WalkingParameters : public InvKinWalkingParameters
    00136 {
    00137 public:
    00138   MSH2004WalkingParameters() : InvKinWalkingParameters(
    00139     "MSH2004",
    00140
    00141     //footMode
    00142     0, //rectangle
    00143     //foreHeight,foreWidth,foreCenterX
    00144     77.5836, 80.2702, 50.3536,
    00145     //hindHeight,hindWidth,hindCenterX
    00146     105.174, 81.5432, -52.0932,
    00147     //foreFootLift,hindFootLift
    00148     5.24393, 24.5014,
    00149     //foreFootTilt,hindFootTilt
    00150     -0.251997, 0.0161507,
    00151     //legSpeedFactorX/Y/R
    00152     1.16278, 1.10182, 1.14494,
    00153     //maxStepSizeX/Y
    00154     37.323, 43.6967,
    00155     //maxSpeedChangeX/Y,maxRotationChange
    00156     100, 100, 1,
    00157     //counterRotation
    00158     0.055,
    00159     //stepLen
    00160     64,
    00161     //groundPhaseF,LiftPhaseF,LowerPhaseF
    00162     0.491957, 0.0833278, 0.0664729,
    00163     //groundPhaseH,LiftPhaseH,LowerPhaseH
    00164     0.49005, 0.089776, 0.0767162,
    00165     //legPhase
    00166     0, 0.5, 0.5, 0,
    00167     //bodyShiftX/Y, bodyShiftOffset, bodyTiltOffset
    00168     0.800923, 0, 0, 0,
    00169     //leaveAnytime
    00170     1
    00171   ) { }
    00172 };
    00173
    00174 /**
    00175  * @class   MSH2004BackwardsWalkingParameters
    00176  * @author  Thomas Kindler <thomas.kindler@gmx.de>
    00177  * @author  Arthur Cesar
    00178  * 21 cm/s 19.03.2003
    00179  */
    00180
    00181 class MSH2004BackwardsWalkingParameters : public InvKinWalkingParameters
    00182 {
    00183 public:
    00184   MSH2004BackwardsWalkingParameters() : InvKinWalkingParameters(
    00185     "MSH2004Backwards",
    00186
    00187     // 28,24 cm
    00188     //footMode
    00189     0,
    00190     //foreHeight,foreWidth,foreCenterX
    00191     88.5057, 79.127, 43.2139,
    00192     //hindHeight,hindWidth,hindCenterX
    00193     101.905, 77.6874, -49.6692,
    00194     //foreFootLift,hindFootLift
    00195     9.76973, 28.5799,
    00196     //foreFootTilt,hindFootTilt
    00197     -0.0724927, 0.0922574,
    00198     //legSpeedFactorX/Y/R
    00199     1.20455, 0.843727, 1.44822,
    00200     //maxStepSizeX/Y
    00201     34.8207, 38.8411,
    00202     //maxSpeedChangeX/Y,maxRotationChange
    00203     100, 100, 1,
    00204     //counterRotation
    00205     0.06,
    00206     //stepLen
    00207     61,
    00208     //groundPhaseF,LiftPhaseF,LowerPhaseF
    00209     0.461105, 0.0361205, 0.0391534,
    00210     //groundPhaseH,LiftPhaseH,LowerPhaseH
    00211     0.508829, 0.0532571, 0.0469326,
    00212     //legPhase
    00213     0, 0.5, 0.5, 0,
    00214     //bodyShiftX/Y, bodyShiftOffset, bodyTiltOffset
    00215     0, 0, 0.0337565,
    00216     //leaveAnytime
    00217     1
    00218   ) { }
    00219 };
    00220
    00221
    00222 /**
    00223  * @class   TurnWithBallWalkingParameters
    00224  * @author  Uwe Düffert
    00225  *
    00226  * with only minimal changed to TurnWithBallWalkingParameters
    00227  */
    00228 class TurnWithBallWalkingParameters : public InvKinWalkingParameters
    00229 {
    00230 public:
    00231   TurnWithBallWalkingParameters() : InvKinWalkingParameters(
    00232     "TurnWithBall",
    00233     //footMode
    00234     0, //rectangle
    00235     //foreHeight,foreWidth,foreCenterX
    00236     77.5836, 80.2702, 80.3536,
    00237     //hindHeight,hindWidth,hindCenterX
    00238     115.174, 81.5432, -52.0932,
    00239     //foreFootLift,hindFootLift
    00240     5.24393, 24.5014,
    00241     //foreFootTilt,hindFootTilt
    00242     -0.251997, 0.0161507,
    00243     //legSpeedFactorX/Y/R
    00244     1.16278, 1.10182, 1.14494,
    00245     //maxStepSizeX/Y
    00246     37.323, 43.6967,
    00247     //maxSpeedChangeX/Y,maxRotationChange
    00248     100, 100, 1,
    00249     //counterRotation
    00250     0.055,
    00251     //stepLen
    00252     64,
    00253     //groundPhaseF,LiftPhaseF,LowerPhaseF
    00254     0.491957, 0.0833278, 0.0664729,
    00255     //groundPhaseH,LiftPhaseH,LowerPhaseH
    00256     0.49005, 0.089776, 0.0767162,
    00257     //legPhase
    00258     0, 0.5, 0.5, 0,
    00259     //bodyShiftX/Y, bodyShiftOffset, bodyTiltOffset
    00260     0.800923, 0, 0, 0,
    00261     //leaveAnytime
    00262     1
    00263   ) { }
    00264 };
    00265
    00266 /**
    00267 * @class ERS7EvolveWalkingParameters
    00268 * Parameters for InvKinWalkingEngine to evolve better walking gates
    00269 * @author Uwe Düffert
    00270 */
    00271 class ERS7EvolveWalkingParameters : public InvKinWalkingParameters
    00272 {
    00273 public:
    00274   ERS7EvolveWalkingParameters() : InvKinWalkingParameters(
    00275     "ERS7Evolve",
    00276     //footMode
    00277     0, //rectangle
    00278     //foreHeight,foreWidth,foreCenterX
    00279     76.5308, 78.1, 53.6242,
    00280     //hindHeight,hindWidth,hindCenterX
    00281     108.72, 76.95, -49.56,
    00282     //foreFootLift,hindFootLift
    00283     5, 24,
    00284     //foreFootTilt,hindFootTilt
    00285     -0.25, 0.0450392,
    00286     //legSpeedFactorX/Y/R
    00287     1.1, 1.13782, 1.19384,
    00288     //maxStepSizeX/Y
    00289     38, 43.0719,
    00290     //maxSpeedChangeX/Y,maxRotationChange
    00291     100.0, 100.0, 1.0,
    00292     //counterRotation
    00293     0.055,
    00294     //stepLen
    00295     77,
    00296     //groundPhaseF,LiftPhaseF,LowerPhaseF
    00297     0.5, 0.06, 0.06,
    00298     //groundPhaseH,LiftPhaseH,LowerPhaseH
    00299     0.5, 0.06, 0.06,
    00300     //legPhase
    00301     0, 0.5, 0.5, 0,
    00302     //bodyShiftX/Y, bodyShiftOffset, bodyTiltOffset
    00303     0.800923, 0, 0, 0,
    00304     //leaveAnytime
    00305     1
    00306     )
    00307   {}
    00308 };
    00309
    00310 #endif// __InvKinWalkingParameterSets_h_