This robot task consists in going back to half-sitting stance. More...
#include <hpp/gik/task/half-sitting-task.hh>
Public Member Functions | |
ChppGikHalfSittingTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod) | |
constructor | |
void | automaticFoot (bool mode=true, bool footIsRight=true) |
Manual mode. | |
void | bringBackZMP (bool inChoice, double inStartTime, double inDuration) |
Option to bring back the ZMP before any other motion (Disabled by default). | |
virtual | ~ChppGikHalfSittingTask () |
Destructor. | |
Protected Member Functions | |
virtual bool | algorithmSolve () |
The algorithm implemented by solve() | |
Protected Attributes | |
CjrlRobotConfiguration | attHalfSitting |
ChppGikStepBackTask * | attStepBackTask |
ChppGikGenericTask * | attGenericTask |
double | attBringStart |
double | attBringDuration |
double | attBringChoice |
This robot task consists in going back to half-sitting stance.
ChppGikHalfSittingTask::ChppGikHalfSittingTask | ( | ChppGikStandingRobot * | inStandingRobot, |
double | inSamplingPeriod | ||
) |
constructor
virtual ChppGikHalfSittingTask::~ChppGikHalfSittingTask | ( | ) | [virtual] |
Destructor.
virtual bool ChppGikHalfSittingTask::algorithmSolve | ( | ) | [protected, virtual] |
The algorithm implemented by solve()
Implements ChppGikRobotTask.
void ChppGikHalfSittingTask::automaticFoot | ( | bool | mode = true , |
bool | footIsRight = true |
||
) |
Manual mode.
void ChppGikHalfSittingTask::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.
References attBringChoice, attBringDuration, and attBringStart.
double ChppGikHalfSittingTask::attBringChoice [protected] |
Referenced by bringBackZMP().
double ChppGikHalfSittingTask::attBringDuration [protected] |
Referenced by bringBackZMP().
double ChppGikHalfSittingTask::attBringStart [protected] |
Referenced by bringBackZMP().
ChppGikGenericTask* ChppGikHalfSittingTask::attGenericTask [protected] |