ChppGikStepTask Class Reference

This is a task to make the robot do a single step. More...

#include <hpp/gik/task/step-task.hh>

Inheritance diagram for ChppGikStepTask:
Collaboration diagram for ChppGikStepTask:

List of all members.

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.

Detailed Description

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.


Constructor & Destructor Documentation

ChppGikStepTask::ChppGikStepTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod,
bool  inForRightFoot,
double  relativeTargetX,
double  relativeTargetY,
double  relativeTargetTheta 
)

constructor

ChppGikStepTask::~ChppGikStepTask ( )

Destructor.


Member Function Documentation

virtual bool ChppGikStepTask::algorithmSolve ( ) [protected, virtual]

Solve for joint motion.

Robot must have a double support polygon

Implements ChppGikRobotTask.

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)