hpp-wholebody-step  4.9.0
Path planning for humanoid robot by sliding on the groud.
hpp::wholebodyStep::SmallSteps Class Reference

#include <hpp/wholebody-step/small-steps.hh>

Inheritance diagram for hpp::wholebodyStep::SmallSteps:
Collaboration diagram for hpp::wholebodyStep::SmallSteps:

Classes

struct  HandConstraint
 
struct  PiecewiseAffine
 Compute parameter along initial path with respect to time. More...
 

Public Types

enum  HandConstraintType { FromStart, UntilEnd, All }
 
typedef walkgen::FootPrints_t FootPrints_t
 
typedef walkgen::Times_t Times_t
 
typedef std::map< value_type, value_typeTimeToParameterMap_t
 

Public Member Functions

virtual PathVectorPtr_t optimize (const PathVectorPtr_t &path)
 Call implementation of delegate path planner. More...
 

Static Public Member Functions

static SmallStepsPtr_t create (const Problem &problem)
 

Public Attributes

HandConstraint leftHand_
 
HandConstraint rightHand_
 

Protected Member Functions

 SmallSteps (const Problem &problem)
 Constructor with roadmap. More...
 
void init (const SmallStepsWkPtr_t &weak)
 Store weak pointer to itself. More...
 

Detailed Description

Plan a sliding path for a humanoid robot and generate a walk motion along this path.

Note
quasi-static sliding constraints should be inserted in the problem

Member Typedef Documentation

◆ FootPrints_t

typedef walkgen::FootPrints_t hpp::wholebodyStep::SmallSteps::FootPrints_t

◆ Times_t

typedef walkgen::Times_t hpp::wholebodyStep::SmallSteps::Times_t

◆ TimeToParameterMap_t

Member Enumeration Documentation

◆ HandConstraintType

Enumerator
FromStart 
UntilEnd 
All 

Constructor & Destructor Documentation

◆ SmallSteps()

hpp::wholebodyStep::SmallSteps::SmallSteps ( const Problem problem)
protected

Constructor with roadmap.

Member Function Documentation

◆ create()

static SmallStepsPtr_t hpp::wholebodyStep::SmallSteps::create ( const Problem problem)
static

Create instance and return shared pointer

Parameters
problemproblem to solve,
delegatepath planner that will solve the initial path planning problem for the sliding robot.
Note
the roadmap of this planner and of the delegate are the same.

◆ init()

void hpp::wholebodyStep::SmallSteps::init ( const SmallStepsWkPtr_t &  weak)
protected

Store weak pointer to itself.

◆ optimize()

virtual PathVectorPtr_t hpp::wholebodyStep::SmallSteps::optimize ( const PathVectorPtr_t path)
virtual

Call implementation of delegate path planner.

Member Data Documentation

◆ leftHand_

HandConstraint hpp::wholebodyStep::SmallSteps::leftHand_

◆ rightHand_

HandConstraint hpp::wholebodyStep::SmallSteps::rightHand_

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