soccer_pycontrol.path_robot.PathRobot

class soccer_pycontrol.path_robot.PathRobot(start_transform, end_transform, foot_center_to_floor)

Bases: PathTorso

Subclass for the robot’s path, contains functions to draw the path of the robot

__init__(start_transform, end_transform, foot_center_to_floor)

Initialization function for Path, creates a single path section, other path sections are only added when the route needs to change

Parameters:

• start_transform – Starting Robot Position

• end_transform – Ending Robot Position

Methods

__init__(start_transform, end_transform, ...)	Initialization function for Path, creates a single path section, other path sections are only added when the route needs to change
angularStepCount()	How many footsteps used for turning the robot takes to run this path
createPathSection(start_transform, end_transform)	Create a path section between the two transforms
duration()	Get the duration in seconds for a given path
dynamicallyUpdateGoalPosition(t, end_transform)	Updates the goal position dynamically (not working)
estimatedPositionAtTime(t)	Get an estimated position of the robot given a certain time.
footPosition(t)	Returns the positions of both feet given a certain time :param t: Relative time of the entire robot path :return: [Transformation of right foot, Transformation of left foot]
full_step_time()	The time it takes for the robot to take a full step :return: Time in seconds
getSubPathSectionAndRatio(r)	Returns the PathSection and ratio of the pathsection given a ratio of the entire Path
getTimePathOfNextStep(t)	Get a series of information about the path at a certain time
getTorsoStepPose(step_num)	Get the torso position given a certain torso step
half_step_time()	The time it takes for the robot to take a half step :return: Time in seconds
isFinished(t)	Whether the path is complete
isShortPath(start_transform, end_transform)	Determine whether the movement can be done with a short path of another type of path (bezier).
leftFootGroundPositionAtTorsoStep(n)	Position of the left foot on the ground at a certain foot step
leftRightFootStepRatio(t[, post_pre_settings])	Gets the ratio of the step of the foot given the time of the path :param t: The time of the path :param post_pre_settings: Which setting to use, whether post and pre steps are taken account for :return: (Step Number, Right foot's step ratio, Left foots step ratio)
linearStepCount()	How many footsteps used for moving forward and backwards the robot takes to run this path
num_steps()	Total number of steps in a path
parabolicPath(startTransform, endTransform, ...)	Calculates the position of a certain ratio on the parabolic path between two transforms http://mathworld.wolfram.com/ParabolicSegment.html
poseAtRatio(r)	Get the position given the ratio of the entire path
rightFootGroundPositionAtTorsoStep(n)	Position of the right foot on the ground at a certain foot step
show()	Draws the torso position
showTimingDiagram()	Displays a set of timing diagrams showing the foot step and ratios along the robot path
show_tf([fig, tf_array, length])	Helper function to draw the H-transforms equivalent to plotTransforms function in Matlab
terminateWalk(t)	Get estimated path ratio from the current time plus one more step, and then find the distance of that ratio and set the distance.
torsoPosition(t[, invert_calibration])	Retrieves the torso position at a given time of the path
torsoStepCount()	Number of torso steps, a torso step is the amount of steps the body moves (similar to foot steps, but doesn't include turning in place.
torsoStepTime()	The average time it takes for the robot's torso to make a single step
whatIsTheFootDoing(step_num)	What is the foot doing, returns right and left foot actions, if the number is 0, then it is waiting at torsoStep 0, if the number is 1, then it is waiting at torso step 1.

Attributes

start_transformed_inv
torso_zdiff_sway	How much the torso bounces up and down while following the torso trajectory (m)
torso_sidediff_sway	How much the torso sways left and right while following the torso trajectory (m)
torso_thetadiff_sway	How much the torso rotates while following the torso trajectory (yaw, pitch, roll)
foot_separation	The seperation of the feet while walking
step_height	The height of the step from the ground
step_outwardness	The distance to the outwards direction when the robot takes a step, positive means away from the Path
step_rotation	The amount of rotation of the footstep, positive means the feet turns outwards to the side
first_step_left	Whether the first step is the left foot
step_precision	How precise the curves are calculated.
path_sections	A list of Path Sections used to define the path

angularStepCount()

How many footsteps used for turning the robot takes to run this path

Returns:

The number of steps

createPathSection(start_transform: Transformation, end_transform: Transformation) → PathSection

Create a path section between the two transforms

Parameters:

• start_transform – Starting robot position

• end_transform – Ending robot position

Returns:

Depending on whether its a short path, a bezier path or a short path

duration() → float

Get the duration in seconds for a given path

Returns:

Duration of the paths in seconds

dynamicallyUpdateGoalPosition(t, end_transform)

Updates the goal position dynamically (not working)

Parameters:

• t – Current time

• end_transform – New goal position

estimatedPositionAtTime(t) → Transformation

Get an estimated position of the robot given a certain time. Used by strategy simulation. Do not use in the walking engine

Parameters:

t – The relative time of the path

Returns:

Position of the torso at the given time

first_step_left

Whether the first step is the left foot

footPosition(t: float) → [<class 'soccer_common.transformation.Transformation'>, <class 'soccer_common.transformation.Transformation'>]

Returns the positions of both feet given a certain time :param t: Relative time of the entire robot path :return: [Transformation of right foot, Transformation of left foot]

foot_separation

The seperation of the feet while walking

full_step_time()

The time it takes for the robot to take a full step :return: Time in seconds

getSubPathSectionAndRatio(r: float) -> (<class 'soccer_pycontrol.path_section.PathSection'>, <class 'float'>)

Returns the PathSection and ratio of the pathsection given a ratio of the entire Path

Parameters:

r – ratio of the entire Path

Returns:

Path section and the ratio of the Path Section

getTimePathOfNextStep(t) -> (<class 'float'>, <class 'float'>, <class 'float'>, <class 'soccer_pycontrol.path_section.PathSection'>, <class 'float'>)

Get a series of information about the path at a certain time

Parameters:

t – The time relative to the entire path’s time

Returns:

a list of relavant information

getTorsoStepPose(step_num) → Transformation

Get the torso position given a certain torso step

Parameters:

step_num – The body step of the path

Returns:

A position of the robot’s torso at the spot

half_step_time()

The time it takes for the robot to take a half step :return: Time in seconds

isFinished(t)

Whether the path is complete

:param t The relative time of the path :return: True if the path has been completed walking

isShortPath(start_transform: Transformation, end_transform: Transformation)

Determine whether the movement can be done with a short path of another type of path (bezier). Bezier is used only on simple forward paths, the rest use ShortPath

Parameters:

• start_transform – The start transform

• end_transform – The end transform

Returns:

leftFootGroundPositionAtTorsoStep(n: int) → Transformation

Position of the left foot on the ground at a certain foot step

Parameters:

n – Body Step

Returns:

Position given as a transformation

leftRightFootStepRatio(t: float, post_pre_settings: ~soccer_pycontrol.path_foot.PostPreSetting = PostPreSetting.POST_AND_PRE) -> (<class 'int'>, <class 'float'>, <class 'float'>)

Gets the ratio of the step of the foot given the time of the path :param t: The time of the path :param post_pre_settings: Which setting to use, whether post and pre steps are taken account for :return: (Step Number, Right foot’s step ratio, Left foots step ratio)

linearStepCount() → float

How many footsteps used for moving forward and backwards the robot takes to run this path

Returns:

The number of steps

num_steps()

Total number of steps in a path

parabolicPath(startTransform: Transformation, endTransform: Transformation, zdiff: float, sidediff: float, rotdiff: float, ratio: float) → Transformation

Calculates the position of a certain ratio on the parabolic path between two transforms http://mathworld.wolfram.com/ParabolicSegment.html

Parameters:

• startTransform – Starting Transform of the Parabolic path

• endTransform – End Transform of the Parabolic path

• zdiff – The height of the parabola

• sidediff – The left right of the parabola

• rotdiff – The amount the transformation rotates on its own axis (roll angle)

• ratio – The ratio between the two transforms

Returns:

The transform between the two points on the parabolic path

path_sections

A list of Path Sections used to define the path

poseAtRatio(r: float) → Transformation

Get the position given the ratio of the entire path

Parameters:

r – ratio of the entire Path

Returns:

Position of the torso at that time

rightFootGroundPositionAtTorsoStep(n: int) → Transformation

Position of the right foot on the ground at a certain foot step

Parameters:

n – Body Step

Returns:

Position given as a transformation

show()

Draws the torso position

Parameters:

fig – Figure Handle

showTimingDiagram()

Displays a set of timing diagrams showing the foot step and ratios along the robot path

static show_tf(fig=None, tf_array=None, length=0)

Helper function to draw the H-transforms equivalent to plotTransforms function in Matlab

Parameters:

• fig – Shared figure object

• tf_array – Array of transforms of size (4,4,n)

• length – The 3rd dimension of the array, n

Returns:

None

step_height

The height of the step from the ground

step_outwardness

The distance to the outwards direction when the robot takes a step, positive means away from the Path

step_precision

How precise the curves are calculated. The amount of movement per given step_precision is calculated (s)

step_rotation

The amount of rotation of the footstep, positive means the feet turns outwards to the side

terminateWalk(t)

Get estimated path ratio from the current time plus one more step, and then find the distance of that ratio and set the distance. Stops the walking at a given time, ends the current PathSection’s trajectory

Parameters:

t – Time relative to the Path

torsoPosition(t: float, invert_calibration=False) → Transformation

Retrieves the torso position at a given time of the path

Parameters:

t – Time since the beginning of the robot path

Returns:

The transformation of the torso position on the path

torsoStepCount() → int

Number of torso steps, a torso step is the amount of steps the body moves (similar to foot steps, but doesn’t include turning in place.

Returns:

torsoStepTime()

The average time it takes for the robot’s torso to make a single step

Returns:

time in seconds

torso_sidediff_sway

How much the torso sways left and right while following the torso trajectory (m)

torso_thetadiff_sway

How much the torso rotates while following the torso trajectory (yaw, pitch, roll)

torso_zdiff_sway

How much the torso bounces up and down while following the torso trajectory (m)

whatIsTheFootDoing(step_num: int) → [<class 'int'>, <class 'int'>]

What is the foot doing, returns right and left foot actions, if the number is 0, then it is waiting at torsoStep 0, if the number is 1, then it is waiting at torso step 1. If it is an array like [1, 3], it indicates that it is in the middle of the parabolic trajectory from torsoPose 1 to torsePose 3

Parameters:

step_num – Step Pose

Returns:

[right foot action, left foot action]