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| ChppGikFootDisplaceElement (ChppGikStandingRobot *inSRobot, double inStartTime, const ChppGikFootprint *inTargetFootprint, bool isRight, double inDuration, double inSamplingPeriod, double inHeight=0.05) |
| Constructor. More...
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bool | isRight () const |
| Tell if this step is to be done by the right foot. More...
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bool | height () const |
| Get the via point's height during step. More...
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const ChppGikFootprint * | targetFootprint () const |
| Get the target footprint. More...
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virtual CjrlGikMotionConstraint * | clone () const |
| Clone constructor. More...
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virtual CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
| Get state constraint at a given time. More...
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virtual
ChppGikTransformationConstraint * | footConstraintAtTime (double inTime) |
| Get foot transformation constraint at given time. More...
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virtual CjrlFoot * | supportFootAtTime (double inTime) |
| Get the support foot joint at time inTime. More...
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virtual bool | plan (ChppGikSupportPolygon &supportPolygon, vector3d &ZMP) |
| Plan stability-consistent ZMP and update given arguments in case of success. More...
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| ~ChppGikFootDisplaceElement () |
| Destructor. More...
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| ChppGikLocomotionElement (ChppGikStandingRobot *inSRobot, double inStartTime, double inDuration, double inSamplingPeriod) |
| constructor More...
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CjrlDynamicRobot * | robot () |
| Get a pointer to associated robot. More...
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virtual void | preProlongate (double inPreProlongation) |
| Mmake this motion constraint return the last planned constraint, from time endTime() to time endTime()+inProlongation. More...
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virtual void | postProlongate (double inPostProlongation) |
| Make this motion constraint return the first planned constraint from time current startTime()-inProlongation to current startTime(). More...
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virtual void | startTime (double) |
| Disactivated. More...
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virtual double | startTime () |
| Get the start time for this jrlGikMotionConstraint. More...
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virtual double | endTime () |
| Get the end time for this jrlGikMotionConstraint. More...
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virtual double | duration () |
| Get the duration of the original motion. More...
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virtual CjrlGikMotionConstraint * | motionConstraint () |
| Get a pointer to the motion constraint. More...
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virtual matrixNxP & | ZMPmotion () |
| Get the support foot joint at time inTime. More...
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virtual | ~ChppGikLocomotionElement () |
| Destructor. More...
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virtual | ~CjrlGikMotionConstraint () |
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| ChppGikPrioritizedMotion (CjrlDynamicRobot *inRobot, unsigned int inPriority, CjrlGikMotionConstraint *inMotionConstraint, double inDampingFactor) |
| Constructor. More...
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void | workingJoints (const vectorN &inJointsMask) |
| Set the joint mask put to work. More...
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const vectorN & | workingJoints () const |
| Get the joint mask put to work. More...
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unsigned int | priority () const |
| Get the priority. More...
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double | dampingFactor () const |
| Get the damping factor. More...
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CjrlDynamicRobot * | robot () |
| Get the robot for this motion. More...
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virtual | ~ChppGikPrioritizedMotion () |
| Destructor. More...
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A locomotion element for displacing a foot to the given footprint.