ChppGikFootDisplaceElement Class Reference

A locomotion element for displacing a foot to the given footprint. More...

#include <hpp/gik/motionplanner/element/foot-displace-element.hh>

Inheritance diagram for ChppGikFootDisplaceElement:
Collaboration diagram for ChppGikFootDisplaceElement:

List of all members.

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 ChppGikFootprinttargetFootprint () const
 Get the target footprint.
virtual CjrlGikMotionConstraintclone () const
 Clone constructor.
virtual CjrlGikStateConstraintstateConstraintAtTime (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.

Detailed Description

A locomotion element for displacing a foot to the given footprint.


Constructor & Destructor Documentation

ChppGikFootDisplaceElement::ChppGikFootDisplaceElement ( ChppGikStandingRobot inSRobot,
double  inStartTime,
const ChppGikFootprint inTargetFootprint,
bool  isRight,
double  inDuration,
double  inSamplingPeriod,
double  inHeight = 0.05 
)

Constructor.

ChppGikFootDisplaceElement::~ChppGikFootDisplaceElement ( )

Destructor.


Member Function Documentation

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.

Parameters:
supportPolygonused and modified by this element according to purpose
ZMPused and modified by this element according to purpose
Returns:
false conditions required by implemented planning algorithms not met

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.

Returns:
0 if the time is out of definition bounds

Implements ChppGikLocomotionElement.

const ChppGikFootprint* ChppGikFootDisplaceElement::targetFootprint ( ) const [inline]

Get the target footprint.