ChppGikHandTask Class Reference

This is a robot hand task. More...

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

Inheritance diagram for ChppGikHandTask:
Collaboration diagram for ChppGikHandTask:

List of all members.

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()

Detailed Description

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.


Constructor & Destructor Documentation

ChppGikHandTask::ChppGikHandTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod 
)

constructor

ChppGikHandTask::~ChppGikHandTask ( )

Destructor.


Member Function Documentation

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.