ChppGikWalkElement Class Reference

This is motion planner for a walk (multiple steps) More...

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

Inheritance diagram for ChppGikWalkElement:
Collaboration diagram for ChppGikWalkElement:

List of all members.

Public Member Functions

 ChppGikWalkElement (ChppGikStandingRobot *inSRobot, double inSamplingPeriod, double inStartTime, const std::vector< ChppGikStepTarget * > &inAbsoluteSteps, double inZMPstart=0.1, double inFoot=1.2, double inZMPEnd=0.1)
 Constructor.
 ChppGikWalkElement (double rightfoot2TargetZMPX, double rightfoot2TargetZMPY, double zmplasttime, ChppGikStandingRobot *inSRobot, double inSamplingPeriod, double inStartTime, const std::vector< ChppGikStepTarget * > &inAbsoluteSteps, double inZMPstart=0.1, double inFoot=1.2, double inZMPEnd=0.1)
 Constructor.
virtual CjrlGikMotionConstraintclone () const
 Clone constructor.
virtual CjrlGikStateConstraintstateConstraintAtTime (double inTime)
 Get state constraint at a given time.
ChppGikTransformationConstraintfootConstraintAtTime (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.
virtual void preProlongate (double inPreProlongation)
 Mmake this motion constraint return the last planned constraint, from time endTime() to time endTime()+inProlongation.
virtual void postProlongate (double inPostProlongation)
 Make this motion constraint return the first planned constraint from time current startTime()-inProlongation to current startTime().
 ~ChppGikWalkElement ()
 Destructor.

Detailed Description

This is motion planner for a walk (multiple steps)


Constructor & Destructor Documentation

ChppGikWalkElement::ChppGikWalkElement ( ChppGikStandingRobot inSRobot,
double  inSamplingPeriod,
double  inStartTime,
const std::vector< ChppGikStepTarget * > &  inAbsoluteSteps,
double  inZMPstart = 0.1,
double  inFoot = 1.2,
double  inZMPEnd = 0.1 
)

Constructor.

The minimum time for the step motion (i.e parameter inFlightTime) is 0.5. So if the user constructs a step with anything below, it gets automatically thresholded.

ChppGikWalkElement::ChppGikWalkElement ( double  rightfoot2TargetZMPX,
double  rightfoot2TargetZMPY,
double  zmplasttime,
ChppGikStandingRobot inSRobot,
double  inSamplingPeriod,
double  inStartTime,
const std::vector< ChppGikStepTarget * > &  inAbsoluteSteps,
double  inZMPstart = 0.1,
double  inFoot = 1.2,
double  inZMPEnd = 0.1 
)

Constructor.

The minimum time for the step motion (i.e parameter inFlightTime) is 0.5. So if the user constructs a step with anything below, it gets automatically thresholded.

ChppGikWalkElement::~ChppGikWalkElement ( )

Destructor.


Member Function Documentation

virtual CjrlGikMotionConstraint* ChppGikWalkElement::clone ( ) const [virtual]

Clone constructor.

Implements CjrlGikMotionConstraint.

ChppGikTransformationConstraint* ChppGikWalkElement::footConstraintAtTime ( double  inTime) [virtual]

Get foot transformation constraint at given time.

Implements ChppGikLocomotionElement.

virtual bool ChppGikWalkElement::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 void ChppGikWalkElement::postProlongate ( double  inPostProlongation) [virtual]

Make this motion constraint return the first planned constraint from time current startTime()-inProlongation to current startTime().

Reimplemented from ChppGikLocomotionElement.

virtual void ChppGikWalkElement::preProlongate ( double  inPreProlongation) [virtual]

Mmake this motion constraint return the last planned constraint, from time endTime() to time endTime()+inProlongation.

Reimplemented from ChppGikLocomotionElement.

virtual CjrlGikStateConstraint* ChppGikWalkElement::stateConstraintAtTime ( double  inTime) [virtual]

Get state constraint at a given time.

Implements CjrlGikMotionConstraint.

virtual CjrlFoot* ChppGikWalkElement::supportFootAtTime ( double  inTime) [virtual]

Get the support foot joint at time inTime.

Returns:
0 if the time is out of definition bounds

Implements ChppGikLocomotionElement.