hpp-walkgen  4.10.1
Walk generator for hpp framework
hpp::walkgen::Step Class Reference

#include <hpp/walkgen/foot-trajectory.hh>

Inheritance diagram for hpp::walkgen::Step:
Collaboration diagram for hpp::walkgen::Step:

Public Member Functions

virtual PathPtr_t copy () const
 
virtual PathPtr_t copy (const ConstraintSetPtr_t &) const
 
virtual ~Step () throw ()
 

Static Public Member Functions

static EIGEN_MAKE_ALIGNED_OPERATOR_NEW StepPtr_t create (const FootPrint &start, const FootPrint &end, const value_type &stepLow, const value_type &stepHigh, const value_type &duration)
 Create a step and return a shared pointer. More...
 

Protected Member Functions

 Step (const FootPrint &start, const FootPrint &end, const value_type &stepLow, const value_type &stepHigh, const value_type &duration)
 
 Step (const Step &step)
 
virtual Configuration_t initial () const
 
virtual Configuration_t end () const
 
virtual bool impl_compute (ConfigurationOut_t configuration, value_type t) const
 
virtual std::ostream & print (std::ostream &os) const
 

Detailed Description

A step as a trajectory of a flying foot

This class derives from Path as a trajectory of a rigid body object.

Constructor & Destructor Documentation

◆ ~Step()

virtual hpp::walkgen::Step::~Step ( )
throw (
)
inlinevirtual

◆ Step() [1/2]

hpp::walkgen::Step::Step ( const FootPrint start,
const FootPrint end,
const value_type stepLow,
const value_type stepHigh,
const value_type duration 
)
protected

◆ Step() [2/2]

hpp::walkgen::Step::Step ( const Step step)
inlineprotected

Member Function Documentation

◆ copy() [1/2]

virtual PathPtr_t hpp::walkgen::Step::copy ( ) const
inlinevirtual

◆ copy() [2/2]

virtual PathPtr_t hpp::walkgen::Step::copy ( const ConstraintSetPtr_t ) const
inlinevirtual

◆ create()

StepPtr_t hpp::walkgen::Step::create ( const FootPrint start,
const FootPrint end,
const value_type stepLow,
const value_type stepHigh,
const value_type duration 
)
static

Create a step and return a shared pointer.

◆ end()

virtual Configuration_t hpp::walkgen::Step::end ( ) const
inlineprotectedvirtual

◆ impl_compute()

bool hpp::walkgen::Step::impl_compute ( ConfigurationOut_t  configuration,
value_type  t 
) const
protectedvirtual

◆ initial()

virtual Configuration_t hpp::walkgen::Step::initial ( ) const
inlineprotectedvirtual

◆ print()

virtual std::ostream& hpp::walkgen::Step::print ( std::ostream &  os) const
inlineprotectedvirtual

The documentation for this class was generated from the following files: