This is a task to make the robot do a single step. More...
#include <hpp/gik/task/step-task.hh>
Public Member Functions | |
ChppGikStepTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod, bool inForRightFoot, double relativeTargetX, double relativeTargetY, double relativeTargetTheta) | |
constructor | |
void | forRightFoot (bool inOption) |
set the foot for this Step. | |
void | relativeTarget (double relativeTargetX, double relativeTargetY, double relativeTargetTheta) |
Set the target in the frame of the support foot (relative step) | |
void | bringBackZMP (bool inChoice, double inStartTime, double inDuration) |
Option to bring back the ZMP before any other motion (Disabled by default). | |
~ChppGikStepTask () | |
Destructor. | |
Protected Member Functions | |
virtual bool | algorithmSolve () |
Solve for joint motion. |
This is a task to make the robot do a single step.
Call solve() to plan joint motion for a step given in support foot frame (origin is projection of ankle on floor, x axis pointing to the toes, y axis pointing to the left and z upward). Orientation of displaced foot is defined by the angle it will make with axis x of support foot.
ChppGikStepTask::ChppGikStepTask | ( | ChppGikStandingRobot * | inStandingRobot, |
double | inSamplingPeriod, | ||
bool | inForRightFoot, | ||
double | relativeTargetX, | ||
double | relativeTargetY, | ||
double | relativeTargetTheta | ||
) |
constructor
ChppGikStepTask::~ChppGikStepTask | ( | ) |
Destructor.
virtual bool ChppGikStepTask::algorithmSolve | ( | ) | [protected, virtual] |
void ChppGikStepTask::bringBackZMP | ( | bool | inChoice, |
double | inStartTime, | ||
double | inDuration | ||
) | [inline, virtual] |
Option to bring back the ZMP before any other motion (Disabled by default).
A motion is planned to bring back the ZMP to the closest point on the line segment defining the center of the safe zone. The start time and the duration of this ZMP motion is left up to the user. The start time is defined relatively to the start of the locomotion plan. Example: bringBackZmp(-0.5, 2.0 ) will make the zmp planning start 0.5 seconds before the first locomotion element (if none, absolute time 0.0s), and take 2.0 seconds to finish. USE AT YOUR OWN RISK
Implements ChppGikRobotTask.
References ChppGikGenericTask::bringBackZMP().
void ChppGikStepTask::forRightFoot | ( | bool | inOption | ) |
set the foot for this Step.
true = right foot, false = left foot
void ChppGikStepTask::relativeTarget | ( | double | relativeTargetX, |
double | relativeTargetY, | ||
double | relativeTargetTheta | ||
) |
Set the target in the frame of the support foot (relative step)