ChppGikHalfSittingTask Class Reference

This robot task consists in going back to half-sitting stance. More...

#include <hpp/gik/task/half-sitting-task.hh>

Inheritance diagram for ChppGikHalfSittingTask:
Collaboration diagram for ChppGikHalfSittingTask:

List of all members.

Public Member Functions

 ChppGikHalfSittingTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod)
 constructor
void automaticFoot (bool mode=true, bool footIsRight=true)
 Manual mode.
void bringBackZMP (bool inChoice, double inStartTime, double inDuration)
 Option to bring back the ZMP before any other motion (Disabled by default).
virtual ~ChppGikHalfSittingTask ()
 Destructor.

Protected Member Functions

virtual bool algorithmSolve ()
 The algorithm implemented by solve()

Protected Attributes

CjrlRobotConfiguration attHalfSitting
ChppGikStepBackTaskattStepBackTask
ChppGikGenericTaskattGenericTask
double attBringStart
double attBringDuration
double attBringChoice

Detailed Description

This robot task consists in going back to half-sitting stance.


Constructor & Destructor Documentation

ChppGikHalfSittingTask::ChppGikHalfSittingTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod 
)

constructor

virtual ChppGikHalfSittingTask::~ChppGikHalfSittingTask ( ) [virtual]

Destructor.


Member Function Documentation

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

The algorithm implemented by solve()

Implements ChppGikRobotTask.

void ChppGikHalfSittingTask::automaticFoot ( bool  mode = true,
bool  footIsRight = true 
)

Manual mode.

void ChppGikHalfSittingTask::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 attBringChoice, attBringDuration, and attBringStart.


Member Data Documentation

Referenced by bringBackZMP().

Referenced by bringBackZMP().

Referenced by bringBackZMP().