A locomotion element for displacing a foot to the given footprint. More...
#include <hpp/gik/motionplanner/element/foot-displace-element.hh>
Public Member Functions | |
ChppGikFootDisplaceElement (ChppGikStandingRobot *inSRobot, double inStartTime, const ChppGikFootprint *inTargetFootprint, bool isRight, double inDuration, double inSamplingPeriod, double inHeight=0.05) | |
Constructor. | |
bool | isRight () const |
Tell if this step is to be done by the right foot. | |
bool | height () const |
Get the via point's height during step. | |
const ChppGikFootprint * | targetFootprint () const |
Get the target footprint. | |
virtual CjrlGikMotionConstraint * | clone () const |
Clone constructor. | |
virtual CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. | |
virtual ChppGikTransformationConstraint * | footConstraintAtTime (double inTime) |
Get foot transformation constraint at given time. | |
virtual CjrlFoot * | supportFootAtTime (double inTime) |
Get the support foot joint at time inTime. | |
virtual bool | plan (ChppGikSupportPolygon &supportPolygon, vector3d &ZMP) |
Plan stability-consistent ZMP and update given arguments in case of success. | |
~ChppGikFootDisplaceElement () | |
Destructor. |
A locomotion element for displacing a foot to the given footprint.
ChppGikFootDisplaceElement::ChppGikFootDisplaceElement | ( | ChppGikStandingRobot * | inSRobot, |
double | inStartTime, | ||
const ChppGikFootprint * | inTargetFootprint, | ||
bool | isRight, | ||
double | inDuration, | ||
double | inSamplingPeriod, | ||
double | inHeight = 0.05 |
||
) |
Constructor.
ChppGikFootDisplaceElement::~ChppGikFootDisplaceElement | ( | ) |
Destructor.
virtual CjrlGikMotionConstraint* ChppGikFootDisplaceElement::clone | ( | ) | const [virtual] |
Clone constructor.
Implements CjrlGikMotionConstraint.
virtual ChppGikTransformationConstraint* ChppGikFootDisplaceElement::footConstraintAtTime | ( | double | inTime | ) | [virtual] |
Get foot transformation constraint at given time.
Implements ChppGikLocomotionElement.
bool ChppGikFootDisplaceElement::height | ( | ) | const [inline] |
Get the via point's height during step.
bool ChppGikFootDisplaceElement::isRight | ( | ) | const [inline] |
Tell if this step is to be done by the right foot.
virtual bool ChppGikFootDisplaceElement::plan | ( | ChppGikSupportPolygon & | supportPolygon, |
vector3d & | ZMP | ||
) | [virtual] |
Plan stability-consistent ZMP and update given arguments in case of success.
supportPolygon | used and modified by this element according to purpose |
ZMP | used and modified by this element according to purpose |
Implements ChppGikLocomotionElement.
virtual CjrlGikStateConstraint* ChppGikFootDisplaceElement::stateConstraintAtTime | ( | double | inTime | ) | [virtual] |
Get state constraint at a given time.
Implements CjrlGikMotionConstraint.
virtual CjrlFoot* ChppGikFootDisplaceElement::supportFootAtTime | ( | double | inTime | ) | [virtual] |
Get the support foot joint at time inTime.
Implements ChppGikLocomotionElement.
const ChppGikFootprint* ChppGikFootDisplaceElement::targetFootprint | ( | ) | const [inline] |
Get the target footprint.