A motion that return a constraint composed of a Com and a Foot transformation. More...
#include <hpp/gik/motionplanner/element/com-motion.hh>
Public Member Functions | |
ChppGikComMotion (CjrlDynamicRobot *inRobot, double inStartTime, double inSamplingPeriod, const vectorN &inWorkingJoints, unsigned int inPriority) | |
Constructor. | |
CjrlDynamicRobot * | robot () |
Get a pointer to associated robot. | |
CjrlGikMotionConstraint * | motionConstraint () |
Get a pointer to the motion constraint. | |
CjrlGikMotionConstraint * | clone () const |
Clone constructor. | |
CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. | |
ChppGikComConstraint * | comConstraintAtTime (double inTime) |
Get center of mass constraint at given time. | |
void | startTime (double inStartTime) |
Set lower bound of definition interval. | |
double | startTime () |
Get lower bound of definition interval. | |
double | endTime () |
Get upper bound of definition interval. | |
bool | setSamples (const matrixNxP &inSamples) |
Set COM trajectory as a 2-by-(N+1) matrix. | |
~ChppGikComMotion () | |
Destructor. |
A motion that return a constraint composed of a Com and a Foot transformation.
The constraint is built upon construction and is returned between startTime and endTime.
ChppGikComMotion::ChppGikComMotion | ( | CjrlDynamicRobot * | inRobot, |
double | inStartTime, | ||
double | inSamplingPeriod, | ||
const vectorN & | inWorkingJoints, | ||
unsigned int | inPriority | ||
) |
Constructor.
ChppGikComMotion::~ChppGikComMotion | ( | ) |
Destructor.
CjrlGikMotionConstraint* ChppGikComMotion::clone | ( | ) | const [virtual] |
Clone constructor.
Implements CjrlGikMotionConstraint.
ChppGikComConstraint* ChppGikComMotion::comConstraintAtTime | ( | double | inTime | ) |
Get center of mass constraint at given time.
double ChppGikComMotion::endTime | ( | ) | [virtual] |
Get upper bound of definition interval.
Implements CjrlGikMotionConstraint.
CjrlGikMotionConstraint* ChppGikComMotion::motionConstraint | ( | ) | [virtual] |
Get a pointer to the motion constraint.
Reimplemented from ChppGikPrioritizedMotion.
CjrlDynamicRobot* ChppGikComMotion::robot | ( | ) | [virtual] |
Get a pointer to associated robot.
Implements CjrlGikMotionConstraint.
bool ChppGikComMotion::setSamples | ( | const matrixNxP & | inSamples | ) |
Set COM trajectory as a 2-by-(N+1) matrix.
We have N*SamplingPeriod = motion_duration, the first sample being ignored by stateConstraintAtTime()
void ChppGikComMotion::startTime | ( | double | inStartTime | ) | [virtual] |
Set lower bound of definition interval.
Implements CjrlGikMotionConstraint.
double ChppGikComMotion::startTime | ( | ) | [virtual] |
Get lower bound of definition interval.
Implements CjrlGikMotionConstraint.
CjrlGikStateConstraint* ChppGikComMotion::stateConstraintAtTime | ( | double | inTime | ) | [virtual] |
Get state constraint at a given time.
Implements CjrlGikMotionConstraint.