hpp-wholebody-step
4.9.0
Path planning for humanoid robot by sliding on the groud.
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Classes | |
struct | RightHandSideFunctor |
class | SmallSteps |
struct | TimeDependant |
class | TimeDependantPath |
Typedefs | |
typedef pinocchio::JointPtr_t | JointPtr_t |
typedef core::ConstraintSet | ConstraintSet |
typedef core::ConstraintSetPtr_t | ConstraintSetPtr_t |
typedef core::ConfigProjector | ConfigProjector |
typedef core::ConfigProjectorPtr_t | ConfigProjectorPtr_t |
typedef core::DifferentiableFunctionPtr_t | DifferentiableFunctionPtr_t |
typedef core::DifferentiableFunction | DifferentiableFunction |
typedef constraints::JointFrame | JointFrame |
typedef constraints::Traits< constraints::JointFrame >::Ptr_t | JointFramePtr_t |
typedef constraints::SymbolicFunction< JointFrame > | JointFrameFunction |
typedef constraints::SymbolicFunction< JointFrame >::Ptr_t | JointFrameFunctionPtr_t |
typedef constraints::PointInJoint | PointInJoint |
typedef constraints::SymbolicFunction< PointInJoint > | PointInJointFunction |
typedef constraints::PointCom | PointCom |
typedef constraints::SymbolicFunction< PointCom > | PointComFunction |
typedef constraints::SymbolicFunction< PointCom >::Ptr_t | PointComFunctionPtr_t |
typedef core::Problem | Problem |
typedef core::PathOptimizerPtr_t | PathOptimizerPtr_t |
typedef core::Path | Path |
typedef core::PathPtr_t | PathPtr_t |
typedef core::PathVector | PathVector |
typedef core::PathVectorPtr_t | PathVectorPtr_t |
typedef core::StraightPath | StraightPath |
typedef core::StraightPathPtr_t | StraightPathPtr_t |
typedef pinocchio::CenterOfMassComputationPtr_t | CenterOfMassComputationPtr_t |
typedef pinocchio::DevicePtr_t | DevicePtr_t |
typedef pinocchio::HumanoidRobotPtr_t | HumanoidRobotPtr_t |
typedef pinocchio::HumanoidRobot | HumanoidRobot |
typedef pinocchio::LiegroupElement | LiegroupElement |
typedef pinocchio::LiegroupSpace | LiegroupSpace |
typedef pinocchio::LiegroupSpacePtr_t | LiegroupSpacePtr_t |
typedef core::Configuration_t | Configuration_t |
typedef core::ConfigurationIn_t | ConfigurationIn_t |
typedef core::ConfigurationOut_t | ConfigurationOut_t |
typedef core::Transform3f | Transform3f |
typedef core::matrix3_t | matrix3_t |
typedef core::vector3_t | vector3_t |
typedef core::vector_t | vector_t |
typedef core::vectorOut_t | vectorOut_t |
typedef core::value_type | value_type |
typedef core::size_type | size_type |
typedef walkgen::FootPrint | FootPrint |
typedef walkgen::SplineBasedPtr_t | SplineBasedPtr_t |
typedef walkgen::SplineBased | SplineBased |
typedef walkgen::CubicBSplinePtr_t | CubicBSplinePtr_t |
typedef boost::shared_ptr< SmallSteps > | SmallStepsPtr_t |
typedef boost::shared_ptr< TimeDependantPath > | TimeDependantPathPtr_t |
typedef constraints::Implicit | Implicit |
typedef constraints::ImplicitPtr_t | ImplicitPtr_t |
typedef boost::shared_ptr< const RightHandSideFunctor > | RightHandSideFunctorPtr_t |
Variables | |
const std::string | STABILITY_CONTEXT |
typedef pinocchio::CenterOfMassComputationPtr_t hpp::wholebodyStep::CenterOfMassComputationPtr_t |
typedef core::ConfigProjector hpp::wholebodyStep::ConfigProjector |
typedef core::ConfigProjectorPtr_t hpp::wholebodyStep::ConfigProjectorPtr_t |
typedef core::Configuration_t hpp::wholebodyStep::Configuration_t |
typedef core::ConfigurationIn_t hpp::wholebodyStep::ConfigurationIn_t |
typedef core::ConfigurationOut_t hpp::wholebodyStep::ConfigurationOut_t |
typedef core::ConstraintSet hpp::wholebodyStep::ConstraintSet |
typedef core::ConstraintSetPtr_t hpp::wholebodyStep::ConstraintSetPtr_t |
typedef walkgen::CubicBSplinePtr_t hpp::wholebodyStep::CubicBSplinePtr_t |
typedef pinocchio::DevicePtr_t hpp::wholebodyStep::DevicePtr_t |
typedef core::DifferentiableFunction hpp::wholebodyStep::DifferentiableFunction |
typedef core::DifferentiableFunctionPtr_t hpp::wholebodyStep::DifferentiableFunctionPtr_t |
typedef walkgen::FootPrint hpp::wholebodyStep::FootPrint |
typedef pinocchio::HumanoidRobot hpp::wholebodyStep::HumanoidRobot |
typedef pinocchio::HumanoidRobotPtr_t hpp::wholebodyStep::HumanoidRobotPtr_t |
typedef constraints::Implicit hpp::wholebodyStep::Implicit |
typedef constraints::ImplicitPtr_t hpp::wholebodyStep::ImplicitPtr_t |
typedef constraints::JointFrame hpp::wholebodyStep::JointFrame |
typedef constraints::SymbolicFunction<JointFrame> hpp::wholebodyStep::JointFrameFunction |
typedef constraints::SymbolicFunction<JointFrame>::Ptr_t hpp::wholebodyStep::JointFrameFunctionPtr_t |
typedef constraints::Traits<constraints::JointFrame>::Ptr_t hpp::wholebodyStep::JointFramePtr_t |
typedef pinocchio::JointPtr_t hpp::wholebodyStep::JointPtr_t |
typedef pinocchio::LiegroupElement hpp::wholebodyStep::LiegroupElement |
typedef pinocchio::LiegroupSpace hpp::wholebodyStep::LiegroupSpace |
typedef pinocchio::LiegroupSpacePtr_t hpp::wholebodyStep::LiegroupSpacePtr_t |
typedef core::matrix3_t hpp::wholebodyStep::matrix3_t |
typedef core::Path hpp::wholebodyStep::Path |
typedef core::PathOptimizerPtr_t hpp::wholebodyStep::PathOptimizerPtr_t |
typedef core::PathPtr_t hpp::wholebodyStep::PathPtr_t |
typedef core::PathVector hpp::wholebodyStep::PathVector |
typedef core::PathVectorPtr_t hpp::wholebodyStep::PathVectorPtr_t |
typedef constraints::PointCom hpp::wholebodyStep::PointCom |
typedef constraints::SymbolicFunction<PointCom> hpp::wholebodyStep::PointComFunction |
typedef constraints::SymbolicFunction<PointCom>::Ptr_t hpp::wholebodyStep::PointComFunctionPtr_t |
typedef constraints::PointInJoint hpp::wholebodyStep::PointInJoint |
typedef constraints::SymbolicFunction<PointInJoint> hpp::wholebodyStep::PointInJointFunction |
typedef core::Problem hpp::wholebodyStep::Problem |
typedef boost::shared_ptr<const RightHandSideFunctor> hpp::wholebodyStep::RightHandSideFunctorPtr_t |
typedef core::size_type hpp::wholebodyStep::size_type |
typedef boost::shared_ptr<SmallSteps> hpp::wholebodyStep::SmallStepsPtr_t |
typedef walkgen::SplineBased hpp::wholebodyStep::SplineBased |
typedef walkgen::SplineBasedPtr_t hpp::wholebodyStep::SplineBasedPtr_t |
typedef core::StraightPath hpp::wholebodyStep::StraightPath |
typedef core::StraightPathPtr_t hpp::wholebodyStep::StraightPathPtr_t |
typedef boost::shared_ptr<TimeDependantPath> hpp::wholebodyStep::TimeDependantPathPtr_t |
typedef core::Transform3f hpp::wholebodyStep::Transform3f |
typedef core::value_type hpp::wholebodyStep::value_type |
typedef core::vector3_t hpp::wholebodyStep::vector3_t |
typedef core::vector_t hpp::wholebodyStep::vector_t |
typedef core::vectorOut_t hpp::wholebodyStep::vectorOut_t |
std::vector<ImplicitPtr_t> hpp::wholebodyStep::createAlignedCOMStabilityConstraint | ( | const DevicePtr_t & | robot, |
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | leftAnkle, | ||
const JointPtr_t & | rightAnkle, | ||
ConfigurationIn_t | configuration, | ||
bool | sliding = true |
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) |
Constraints that ensure that the COM is between the two ankles
robot | the robot, |
comc | computation of the center of mass (whole robot or subtree) |
leftAnkle | left ankle joint, |
rightAnkle | right ankle joint, |
configuration | the configuration of the robot satisfying the constraint, |
sliding | whether the robot can slide on the ground |
Create the following set of constraints:
std::vector<ImplicitPtr_t> hpp::wholebodyStep::createSlidingStabilityConstraint | ( | const DevicePtr_t & | robot, |
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | leftAnkle, | ||
const JointPtr_t & | rightAnkle, | ||
ConfigurationIn_t | configuration | ||
) |
Create quasi-static stability constraints
robot | the robot, |
comc | a hpp::pinocchio::CenterOfMassComputation that handle COM computations. |
leftAnkle | left ankle joint, |
rightAnkle | right ankle joint, |
configuration | the configuration of the robot satisfying the constraint, |
The constraints make the feet of the robot slide on a horizontal ground and the center of mass project at a constant position with respect to the feet. Five constraints are returned:
All constraints are returned along with the hpp::core::ComparisonType::createDefault()
std::vector<ImplicitPtr_t> hpp::wholebodyStep::createSlidingStabilityConstraint | ( | const DevicePtr_t & | robot, |
const JointPtr_t & | leftAnkle, | ||
const JointPtr_t & | rightAnkle, | ||
ConfigurationIn_t | configuration | ||
) |
Create quasi-static stability constraints The center of mass takes into account all the joints of the robot.
robot,leftAnkle,rightAnkle,configuration | see createSlidingStabilityConstraint(const DevicePtr_t&, const JointPtr_t&, const JointPtr_t&, ConfigurationIn_t) |
std::vector<ImplicitPtr_t> hpp::wholebodyStep::createSlidingStabilityConstraintComplement | ( | const DevicePtr_t & | robot, |
const JointPtr_t & | leftAnkle, | ||
ConfigurationIn_t | configuration | ||
) |
Create quasi-static stability complementary constraints
robot | the robot, |
comc | a hpp::pinocchio::CenterOfMassComputation that handle COM computations. |
leftAnkle | left ankle joint, |
configuration | the configuration of the robot satisfying the constraint, |
Used with the quasi-static stability constraints, the constraints make the feet and the center of mass of the robot at a constant position. Two constraints are returned:
All constraints are returned along with the hpp::core::ComparisonType::createDefault()
std::vector<ImplicitPtr_t> hpp::wholebodyStep::createStaticStabilityConstraint | ( | const DevicePtr_t & | robot, |
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | leftAnkle, | ||
const JointPtr_t & | rightAnkle, | ||
ConfigurationIn_t | configuration, | ||
bool | sliding | ||
) |
Create quasi-static stability constraints
robot | the robot, |
comc | computation of the center of mass (whole robot or subtree) |
leftAnkle | left ankle joint, |
rightAnkle | right ankle joint, |
configuration | the configuration of the robot satisfying the constraint, |
sliding | whether the robot can slide on the ground |
If sliding is true, the constraints make the feet of the robot lie on a horizontal ground and the center of mass project at a constant position with respect to the feet. Five constraints are returned:
If sliding is false, 3 constraints are returned
All constraints are returned along with the hpp::core::ComparisonType::createDefault()
hpp::wholebodyStep::HPP_PREDEF_CLASS | ( | SmallSteps | ) |
hpp::wholebodyStep::HPP_PREDEF_CLASS | ( | TimeDependantPath | ) |
const std::string hpp::wholebodyStep::STABILITY_CONTEXT |