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

Accessor for desired clearance of the leg tip with respect to default position during swing period. */

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

Accessor for step cycle swing period phase length. */

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

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

Accessor for the externally set target tip pose request time */

Accessor for target tip pose. */

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

Accessor for ros cycle time period. */

Accessor for the time delta value which defines the period of the ros cycle.*/

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

Accessor for the current estimated force vector on the tip of this leg. */

Accessor for the current estimated force vector on the tip of this leg. */

Accessor for the current estimated torque vector on the tip of this leg. */

Accessor for the current estimated torque vector on the tip of this leg. */

Accessor to the transition tip poses at the requested index. */

Accessor for the virtual damping ratio value used in the admittance control model of this leg. */

Accessor for the virtual mass value used in the admittance control model of this leg.*/

Accessor for the current virtual stiffness value used in the admittance control model of this leg. */

Accessor for walk plane estimate. */

Accessor for normal to walk plane estimate. */

Accessor for walk cycle state. */

Accessor for workspace map. */

Returns true if leg has completed its first step whilst the walk state transitions from STOPPED to MOVING. */

Returns true if the transition pose, of the requested index, exists. */

/ * Callback handling input IMU data * @param[in] data The Imu sensor message provided by the subscribed ros topic "/SYROPOD_NAME/imu/data" *********

/ * Acquires auto pose parameter values from the ros param server and initialises parameter objects. *************************************************

/ * Acquires gait selection defined parameter values from the ros param server and initialises parameter objects. * @param[in] gait_selection The des

/ * Acquires parameter values from the ros param server and initialises parameter objects. Also sets up dynamic * reconfigure server. ***************

Returns true if leg is in the correct step cycle phase per the walk controller state. */

Returns true is Auto Poser is allowed to update its pose (i.e. has not completed posing). */

/ * Callback which handles acquisition of joint states from motor drivers. Attempts to populate joint objects with * available current position/veloc

/ * Handles a leg toggle event. Forces robot velocity input to zero until it is in a STOPPED walk state and then * calculates a new default pose base

/ * Main loop. Sets up ros environment including the node handle, rosconsole messaging, loop rate etc. Also creates and * initialises the 'StateContr

* Operator to check if two poses are NOT equivalent * @params[in] pose The pose that is checked for non-equivalency against *this * @return Bool

* Operator to check if two poses are equivalent * @params[in] pose The pose that is checked for equivalency against *this * @return Bool definin

* Returns inverse of pose * @return The inverse of *this pose */

/ * Callback handling the desired selected parameter adjustment. Sets a new value for the selected parameter by adding * or subtracting the (paramete

/ * Callback handling the desired parameter selection and sending state messages to user interface. * @param[in] input The Int8 standard message prov

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

/ * Callback handling desired pose reset mode * @param[in] input The Int8 standard message provided by the subscribed ros topic "syropod_remote/pose_

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

/ * Callback handling the selection of the leg as the primary leg for manual manipulation. * @param[in] input The Int8 standard message provided by t

/ * Callback handling the toggling the state of the primary selected leg. * @param[in] input The Int8 standard message provided by the subscribed ros

/ * Callback for the input manual tip velocity (in cartesian space) for the primary selected leg * @param[in] input The Point geometry message provid

* Publishes the given message via the ASC leg state pubisher object. * @param[in] msg The ASC leg state message to be published. */

* Publishes the given message via the leg state pubisher object. * @param[in] msg The leg state message to be published. */

Modifier for the scaler for lateral stance positions. */

Resets checks used for defining completion of auto posing cycle. */

Reset the key variables of stepToPosition() ready for new stepping maneuver. */

Clears all tip poses from the vector of transition tip poses. */

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

/ * Loops whilst robot is in RUNNING state. * Coordinates changes of gait, parameter adjustments, leg state toggling and the application of cruise co

/ * Callback handling the selection of the leg as the secondary leg for manual manipulation. * @param[in] input The Int8 standard message provided by

/ * Callback handling the toggling the state of the secondary selected leg. * @param[in] input The Int8 standard message provided by the subscribed r

/ * Callback for the input manual tip velocity (in cartesian space) for the secondary selected leg * @param[in] input The Point geometry message prov

* Modifier for the publisher of ASC state messages. * @param[in] publisher The new ros publisher to publish ASC state messages. */

* Modifier for the current admittance control position offset for this leg. Only sets component of input vector * which aligns with direction of

* Modifier for the flag denoting if the leg in in the correct phase. * @param[in] at_correct_phase The new value for the flag. */

Modifier for auto pose. */

* Modifier for the flag denoting if the leg has completed its first step. * @param[in] completed_first_step The new value for the flag. */

* Modifier for the current pose of the robot model body. * @param[in] pose The input pose to be set as the current robot model body pose. */

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

* Modifier for the current tip pose according to the walk controller. * @param[in] current_tip_pose The new current tip pose. */

* Modifier for the default pose of the robot model body. * @param[in] pose The input pose to be set as the default robot model body pose. */

* Modifier for the default tip pose according to the walk controller. * @param[in] tip_pose The new default tip pose. */

Modifier for the desired leg configuration **/

* Modifier for the desired tip velocity of the tip of this leg object. * @param[in] tip_velocity The new tip velocity of this leg object. */

Modifier for pose cycle end phase. */

* Modifier for the externally set target tip pose * @param[in] pose The new externally set target tip pose */

Modifier for amplitude of component linear translation in auto pose in direction of gravity. */

Modifier for imu data */

Modifier for the flag which denotes if leg has completed its required step in a sequence. */

* Modifier for the LegPoser object associated with this leg. * @param[in] leg_poser A pointer to the new LegPoser object for this leg. */

* Modifier for the curent state of this leg. * @param[in] leg_state The new state of this leg. */

* Modifier for the LegStepper object associated with this leg. * @param[in] leg_stepper A pointer to the new LegStepper object for this leg. *

Modifier for manual pose velocity input */

Modifier for normalisation value */

Modifier for the pointer to the parent leg */

* Modifier for the pointer to the parent leg object * @param[in] parent_leg The new parent leg pointer. */

* Modifier for the phase of the step cycle. * @param[in] phase The new phase. */

Modifier for pose phase length */

* Modifier for the phase offset of the step cycle. * @param[in] phase_offset The new phase offset. */

Modifier for amplitude of pitch component of angular rotation in auto pose. */

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

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

Modifier for pose reset mode */

* Modifier for posing state. * @param[in] state The new posing state. */

Modifier for amplitude of roll component of angular rotation in auto pose. */

* Modifier for the progress of the stance period. * @param[in] progress The new stance progress. */

Modifier for pose cycle start phase. */

* Modifier for the publisher of leg state messages. * @param[in] publisher The new ros publisher to publish leg state messages. */

* Modifier for the current estimated pose of the stepping surface plane. * @param[in] step_plane_pose The new estimate of the pose of the stepping

* Modifier for the current state of step cycle. * @param[in] step_state The new state of the step cycle. */

* Modifier for the progress of the swing period. * @param[in] progress The new swing progress. */

Modifier for target body pose */

Modifier for desired configuration */

* Modifier for the externally set target tip pose request time * @param[in] time The new externally set target tip pose request time */

Modifier for target tip pose. */