/ * Constructor for Joint object. Initialises member variables from parameters and generates initial transform. * @param[in] leg A pointer to the par

/ * Constructor for a robot model leg object. Initialises member variables from parameters. * @param[in] model A pointer to the parent robot model.

/ * Leg poser contructor * @param[in] poser Pointer to the Pose Controller object * @param[in] leg Pointer to the parent leg object associated with

/ * Leg stepper object constructor, initialises member variables from walk controller. * @param[in] walker A pointer to the walk controller. * @para

/ * Constructor for Link object. Initialises member variables from parameters. * @param[in] leg A pointer to the parent leg object. * @param[in] act

/ * Contructor for robot model object - initialises member variables from parameters. * @param[in] params A pointer to the parameter data structure.

* Blank contructor */

/ * PoseController class constructor. Initialises member variables. * @param[in] model Pointer to the robot model class object * @param[in] params P

/ * StateController class constructor. Initialises parameters, creates robot model object, sets up ros topic * subscriptions and advertisments. * @p

/ * Constructor for Tip object. Initialises member variables from parameters and generates initial transform. * @param[in] leg A pointer to the paren

* Returns pose with position and rotation elements all set to undefined values. * @return The Undefined Pose */

/ * Constructor for the walk controller. * @param[in] model A pointer to the robot model. * @param[in] params A copy of the parameter data structure

Adds tip position to vector of transition tip poses. */

/ * Updates adjustment of parameters * @todo Implement smooth "whilst walking" adjustment of step_frequency and body_clearance **********************

/ * Callback handling the auto navigation mode and sending state messages to user interface. * @param[in] input The Int8 standard message provided by

/ * Callback for the input body pose velocity (x/y/z linear translation and roll/pitch/yaw angular rotation velocities) * @param[in] input The Twist

/ * Callback for the input body velocity * @param[in] input The Twist geometry message provided by the subscribed ros topic "syropod_remote/desired_v

* Attempts to generate a pose (x/y linear translation only) to position body such that there is a zero sum of moments * from the force acting on the

/ * Calculates an estimate for the tip force vector acting on this leg, using the calculated state jacobian and * values for the torque on each joi

/ * Handles a gait change event. Forces robot velocity input to zero until it is in a STOPPED walk state and then updates * gait parameters based on

/ * Callback handling the cruise control mode and sending state messages to user interface. Determines cruise velocity * from either parameters or cu

/ * Callback handling new configurations from a dynamic reconfigure client and assigning new values for adjustment. * @param[in] config The new confi

/ * Publishes request to external planner interface for a new configuration step of a generated plan. Executes this plan * step by calling pose contr

/ * Updates control nodes for quartic bezier curves of both halves of swing tip trajectory calculation to force the * trajectory of the touchdown pe

/ * Callback handling the desired gait selection. * @param[in] input The Int8 standard message provided by the subscribed ros topic "syropod_remote/g

/ * Generates control nodes for quartic bezier curve of 1st half of the swing tip trajectory calculation. * of swing trajectory generation. *********

/ * Generates control nodes for quartic bezier curve of 1st half of the swing tip trajectory calculation. * of swing trajectory generation. * @param

/ * Generates control nodes for quartic bezier curve of stance tip trajectory calculation. * @param[in] stride_scaler A scaling variable which modifi

/ * Publises visualisation markers which represent the workspace for each leg. * @param[in] leg A pointer to a leg of the robot model object * @pa

Accessor for the current admittance control position offset for this leg.*/

Accessor for the admittance state object for this leg. */

Accessor for auto pose */

Accessor for auto posing state*/

Accessor for default body clearance above ground. */

Accessor for the current pose of the robot body. */

Accessor for current pose of the robot model body.*/

Accessor for current tip pose according to the Leg Poser object. */

Accessor for the current tip pose according to the walk controller. */

Accessor for the current tip pose of this leg. */

Accessor for the current tip velocity of this leg. */

Accessor for the current pose of the robot body. */

Accessor for default pose of the robot model body.*/

Accessor for the default tip pose according to the walk controller. */

Accessor for desired angular body velocity. */

Accessor for desired linear body velocity. */

Accessor for the desired tip pose of this leg. */

Accessor for the desired tip velocity of this leg. */

Accessor for the step coordination group of this leg. */

Accessor for identification name of this leg object. */

Accessor for id number of Auto Poser object. */

Accessor for identification number of this leg object. */

Accessor for the identity tip pose according to the walk controller. */

Accessor for imu data */

* Returns pointer to joint requested via identification number input. * @param[in] joint_id_number The identification name of the requested joint

Accessor for the container of Joint objects associated with this leg. */

Accessor for the number of child joint objects for this leg. */

* Returns pointer to leg requested via identification number input. * @param[in] leg_id_num The identification number of the requested leg object p

Returns true if leg has completed its required step in a sequence. */

Accessor for leg object container.*/

Accessor for leg count (number of legs in robot model).*/

Accessor for the LegPoser object associated with this leg. */

Accessor for the cuurent state of this leg. */

Accessor for the LegStepper object associated with this leg. */

/ * Returns pointer to link requested via identification name string input. * @param[in] link_id_name The identification name of the requested link o

* Returns pointer to link requested via identification number input. * @param[in] link_id_number The identification number of the requested link o

Accessor for the container of Link objects associated with this leg. */

Accessor for model current pose. */

Accessor for normaliser value */

Accessor for ideal odemetry pose. */

Calculates ratio of walk cycle that occurs on the walk plane. */

Accessor for pointer to parent leg object */

Accessor for pointer to parent leg object */

Accessor for the current phase of the step cycle. */

Accessor for pose phase length */

Accessor for step cycle phase length. */

Accessor for the current phase offset of the step cycle. */

Accessor for pose frequency */

* Returns the pose of (or a pose relative to) the origin of the robot model in the frame of this joint. * @param[in] robot_frame_pose The position

Accessor for phase end of auto pose negation cycle. */

Accessor for phase start of auto pose negation cycle. */

Accessor for pose reset mode */

* Returns the pose of (or a pose relative to) the origin of this joint in the frame of the robot model. * @param[in] joint_frame_pose The pose rel

* Returns the pose of (or a pose relative to) the origin of the robot model in the frame of the tip. * @param[in] robot_frame_pose The pose relative

Accessor for error in rotation absement - used in imu posing PID */

Accessor for error in rotation position - used in imu posing PID */

Accessor for error in rotation velocity - used in imu posing PID */

* Accessor for control nodes in the stance bezier curve. * @param[in] i Index of the control node. */

Accessor for phase for end of stance period of step cycle. */

Accessor for step cycle stance period phase length. */

Accessor for the current progress of the stance period in the step cycle (0.0 -> 1.0 || -1.0) */

Returns the lateral workspace radius scaled by stance width scaler */

Accessor for phase for start of stance period of step cycle. */

Accessor for step clearance. */

Accessor for step depth. */

Accessor for step cycle frequency. */

Accessor for the current estimated pose of the stepping surface plane. */

Accessor for the current state of the step cycle. */

Accessor for the current stride vector used in the step cycle. */

* Accessor for control nodes in the primary swing bezier curve. * @param[in] i Index of the control node. */