This is a robot hand task. More...
#include <hpp/gik/task/hand-task.hh>
Public Member Functions | |
ChppGikHandTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod) | |
constructor | |
void | forRightHand (bool inSwitch) |
Set the hand. | |
double | targetClench () |
get the target clench value | |
void | targetClench (double inTargetClenchValue) |
Set the target clench value. | |
void | motionDuration (double inMotionDuration) |
Set the motion duration. | |
double | motionDuration () |
Get the motion duration. | |
void | bringBackZMP (bool, double, double) |
Option to bring back the ZMP before any other motion (Disabled by default). | |
~ChppGikHandTask () | |
Destructor. | |
Protected Member Functions | |
virtual bool | algorithmSolve () |
The algorithm implemented by solve() |
This is a robot hand task.
It can be used to plan joint motion to change the clench of a hand. The clench is represented by a single scalar value ranging from 0 (open hand) to 1 (closed hand). Joint motion is a slow minimum jerk motion from current to target clench.
ChppGikHandTask::ChppGikHandTask | ( | ChppGikStandingRobot * | inStandingRobot, |
double | inSamplingPeriod | ||
) |
constructor
ChppGikHandTask::~ChppGikHandTask | ( | ) |
Destructor.
virtual bool ChppGikHandTask::algorithmSolve | ( | ) | [protected, virtual] |
The algorithm implemented by solve()
Implements ChppGikRobotTask.
void ChppGikHandTask::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.
void ChppGikHandTask::forRightHand | ( | bool | inSwitch | ) |
Set the hand.
true = right hand, false = left
void ChppGikHandTask::motionDuration | ( | double | inMotionDuration | ) |
Set the motion duration.
double ChppGikHandTask::motionDuration | ( | ) |
Get the motion duration.
double ChppGikHandTask::targetClench | ( | ) |
get the target clench value
void ChppGikHandTask::targetClench | ( | double | inTargetClenchValue | ) |
Set the target clench value.