std::vector<FootstepState::Ptr>
FootstepGraph::localMoveFootstepState(FootstepState::Ptr in)
{
std::vector<FootstepState::Ptr> moved_states;
moved_states.reserve((2*parameters_.local_move_x_num + 1)*(2*parameters_.local_move_y_num + 1)*(2*parameters_.local_move_theta_num +1) - 1);
int x_num = parameters_.local_move_x_num;
int y_num = parameters_.local_move_y_num;
int theta_num = parameters_.local_move_theta_num;
if(x_num == 0) x_num = 1;
if(y_num == 0) y_num = 1;
if(theta_num == 0) theta_num = 1;
double move_x = parameters_.local_move_x;
double move_y = parameters_.local_move_y;
double move_t = parameters_.local_move_theta;
double offset_x = parameters_.local_move_x_offset;
double offset_y = (in->getLeg() == jsk_footstep_msgs::Footstep::LEFT) ?
parameters_.local_move_y_offset : - parameters_.local_move_y_offset;
double offset_t = parameters_.local_move_theta_offset;
bool have_offset = ((offset_x != 0.0) || (offset_y != 0.0) || (offset_t != 0.0));
for (int xi = - parameters_.local_move_x_num; xi <= parameters_.local_move_x_num; xi++) {
for (int yi = - parameters_.local_move_y_num; yi <= parameters_.local_move_y_num; yi++) {
for (int thetai = - parameters_.local_move_theta_num; thetai <= parameters_.local_move_theta_num; thetai++) {
if ( have_offset || (xi != 0) || (yi != 0) || (thetai != 0) ) {
Eigen::Affine3f trans(Eigen::Translation3f((move_x / x_num * xi) + offset_x,
(move_y / y_num * yi) + offset_y,
0)
* Eigen::AngleAxisf((move_t / theta_num * thetai) + offset_t,
Eigen::Vector3f::UnitZ()));
moved_states.push_back(
FootstepState::Ptr(new FootstepState(in->getLeg(),
in->getPose() * trans,
in->getDimensions(),
in->getResolution())));
}
}
}
}
return moved_states;
}
std::vector<FootstepState::Ptr>
FootstepGraph::localMoveFootstepState(FootstepState::Ptr in)
{
std::vector<FootstepState::Ptr> moved_states;
moved_states.reserve(local_move_x_num_ * local_move_y_num_ * local_move_theta_num_ * 8);
for (size_t xi = - local_move_x_num_; xi <= local_move_x_num_; xi++) {
for (size_t yi = - local_move_y_num_; yi <= local_move_y_num_; yi++) {
for (size_t thetai = - local_move_theta_num_; thetai <= local_move_theta_num_; thetai++) {
Eigen::Affine3f trans(Eigen::Translation3f(local_move_x_ / local_move_x_num_ * xi,
local_move_y_ / local_move_y_num_ * yi,
0)
* Eigen::AngleAxisf(local_move_theta_ / local_move_theta_num_ * thetai,
Eigen::Vector3f::UnitZ()));
moved_states.push_back(
FootstepState::Ptr(new FootstepState(in->getLeg(),
in->getPose() * trans,
in->getDimensions(),
in->getResolution())));
}
}
}
return moved_states;
}
