placo 0.9.11__tar.gz → 0.9.12__tar.gz

{placo-0.9.11 → placo-0.9.12}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.11
+Version: 0.9.12
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT

{placo-0.9.11 → placo-0.9.12}/bindings/expose-footsteps.cpp

@@ -24,7 +24,9 @@ void exposeFootsteps()
       .add_property("side", &FootstepsPlanner::Footstep::side, &FootstepsPlanner::Footstep::side)
       .add_property("foot_length", &FootstepsPlanner::Footstep::foot_length, &FootstepsPlanner::Footstep::foot_length)
       .add_property("foot_width", &FootstepsPlanner::Footstep::foot_width, &FootstepsPlanner::Footstep::foot_width)
-      .add_property("frame", &FootstepsPlanner::Footstep::frame, &FootstepsPlanner::Footstep::frame)
+      .add_property(
+          "frame", +[](FootstepsPlanner::Footstep& footstep) { return footstep.frame; },
+          &FootstepsPlanner::Footstep::frame)
       .def(
           "set_frame_xy",
           +[](FootstepsPlanner::Footstep& footstep, double x, double y) {

{placo-0.9.11 → placo-0.9.12}/bindings/expose-parameters.cpp

@@ -49,12 +49,14 @@ void exposeParameters()
       .add_property("walk_dtheta_spacing", &HumanoidParameters::walk_dtheta_spacing,
                     &HumanoidParameters::walk_dtheta_spacing)
       .add_property("op_space_polygon", &HumanoidParameters::op_space_polygon, &HumanoidParameters::op_space_polygon)
-      .add_property("dcm_offset_polygon", &HumanoidParameters::dcm_offset_polygon, &HumanoidParameters::dcm_offset_polygon)
+      .add_property("dcm_offset_polygon", &HumanoidParameters::dcm_offset_polygon,
+                    &HumanoidParameters::dcm_offset_polygon)
       .def("dt", &HumanoidParameters::dt)
       .def("double_support_timesteps", &HumanoidParameters::double_support_timesteps)
       .def("startend_double_support_timesteps", &HumanoidParameters::startend_double_support_timesteps)
       .def("double_support_duration", &HumanoidParameters::double_support_duration)
       .def("startend_double_support_duration", &HumanoidParameters::startend_double_support_duration)
       .def("has_double_support", &HumanoidParameters::has_double_support)
-      .def("ellipsoid_clip", &HumanoidParameters::ellipsoid_clip);
+      .def("ellipsoid_clip", &HumanoidParameters::ellipsoid_clip)
+      .def("ellipsoid_overlap_clip", &HumanoidParameters::ellipsoid_overlap_clip);
 }

{placo-0.9.11 → placo-0.9.12}/pyproject.toml

@@ -23,7 +23,7 @@ description = "PlaCo: Rhoban Planning and Control"
 license = "MIT"
 name = "placo"
 requires-python = ">= 3.8"
-version = "0.9.11"
+version = "0.9.12"
 
 [project.urls]
 changelog = "https://github.com/rhoban/placo/blob/main/CHANGELOG.md"

{placo-0.9.11 → placo-0.9.12}/src/placo/humanoid/humanoid_parameters.cpp

@@ -1,5 +1,7 @@
 #include <cmath>
 #include "placo/humanoid/humanoid_parameters.h"
+#include "placo/humanoid/footsteps_planner_repetitive.h"
+#include "placo/tools/utils.h"
 
 namespace placo::humanoid
 {
@@ -53,6 +55,31 @@ Eigen::Vector3d HumanoidParameters::ellipsoid_clip(Eigen::Vector3d step)
   return step;
 }
 
+Eigen::Vector3d HumanoidParameters::ellipsoid_overlap_clip(HumanoidRobot::Side support_side, Eigen::Vector3d step)
+{
+  FootstepsPlannerRepetitive planner(*this);
+  planner.configure(step.x(), step.y(), step.z(), 3);
+
+  // Creatting footsteps
+  Eigen::Affine3d T_world_left = Eigen::Affine3d::Identity();
+  T_world_left.translate(Eigen::Vector3d(0, feet_spacing / 2., 0));
+  Eigen::Affine3d T_world_right = Eigen::Affine3d::Identity();
+  T_world_right.translate(Eigen::Vector3d(0, -feet_spacing / 2, 0));
+
+  auto footsteps =
+      planner.plan(support_side == HumanoidRobot::Side::Left ? HumanoidRobot::Side::Right : HumanoidRobot::Side::Left,
+                   T_world_left, T_world_right);
+
+  Eigen::Affine3d T_world_support = footsteps[1].frame;
+  Eigen::Affine3d T_world_target = footsteps[2].frame;
+  Eigen::Affine3d T_support_target = T_world_support.inverse() * T_world_target;
+
+  double offset = (support_side == HumanoidRobot::Side::Left) ? -feet_spacing : feet_spacing;
+
+  return Eigen::Vector3d(T_support_target.translation().x(), T_support_target.translation().y() - offset,
+                         tools::frame_yaw(T_support_target.rotation()));
+}
+
 Eigen::Affine3d HumanoidParameters::opposite_frame(HumanoidRobot::Side side, Eigen::Affine3d T_world_foot, double d_x,
                                                    double d_y, double d_theta)
 {

{placo-0.9.11 → placo-0.9.12}/src/placo/humanoid/humanoid_parameters.h

@@ -166,6 +166,11 @@ public:
    */
   Eigen::Vector3d ellipsoid_clip(Eigen::Vector3d step);
 
+  /**
+   * @brief Clips a step using ellipsoid and overlap avoidance
+   */
+  Eigen::Vector3d ellipsoid_overlap_clip(HumanoidRobot::Side support_side, Eigen::Vector3d step);
+
   /**
    * @brief Frames for opposite and neutral positions
    */