ChppGikMetaTask Class Reference

This is a robot task composed of a sequence of robot tasks. More...

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

Inheritance diagram for ChppGikMetaTask:
Collaboration diagram for ChppGikMetaTask:

List of all members.

Public Member Functions

 ChppGikMetaTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod)
 constructor
void pushbackTask (ChppGikRobotTask *inRobotTask)
 add a robot task at the end of the current stack of tasks
void clearTasks ()
 clear stack of robot tasks
void bringBackZMP (bool inChoice, double inStartTime, double inDuration)
 Option to bring back the ZMP before any other motion (Disabled by default).
 ~ChppGikMetaTask ()
 Destructor.

Protected Member Functions

virtual bool algorithmSolve ()
 Solve for joint motion.

Detailed Description

This is a robot task composed of a sequence of robot tasks.


Constructor & Destructor Documentation

ChppGikMetaTask::ChppGikMetaTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod 
)

constructor

ChppGikMetaTask::~ChppGikMetaTask ( )

Destructor.


Member Function Documentation

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

Solve for joint motion.

Robot must have a double support polygon

Implements ChppGikRobotTask.

void ChppGikMetaTask::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 ChppGikMetaTask::clearTasks ( )

clear stack of robot tasks

void ChppGikMetaTask::pushbackTask ( ChppGikRobotTask inRobotTask)

add a robot task at the end of the current stack of tasks