This is motion planner for a walk (multiple steps) More...
#include <hpp/gik/motionplanner/element/walk-element.hh>
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 CjrlGikMotionConstraint * | clone () const |
Clone constructor. | |
virtual CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. | |
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. | |
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. |
This is motion planner for a walk (multiple steps)
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.
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.
supportPolygon | used and modified by this element according to purpose |
ZMP | used and modified by this element according to purpose |
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.
Implements ChppGikLocomotionElement.