ChppGikReachTask Class Reference

Use this task to make the robot reach for a target. More...

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

Inheritance diagram for ChppGikReachTask:
Collaboration diagram for ChppGikReachTask:

List of all members.

Public Member Functions

 ChppGikReachTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod)
 constructor
void target (const vector3d &inReachTarget, bool isForRightHand)
 set reach target (a point in world frame) and effector (a boolean indicating the hand: 'true' for 'right hand')
void gazeTarget (const vector3d &inGazeTarget)
 enable the gaze constraint and set the gaze target (a point in world frame)
void disableGaze ()
 disable the gaze constraint
void handOrientation (const vector3d &inTargetOrientation)
 enable the hand okayAxis constraint and set the target orientation (a vector in world frame) .
void disableOrientation ()
 disable the hand okayAxis orientation constraint
void steppingEnabled (bool inOption)
 enable or disable stepping
void bringBackZMP (bool inChoice, double inStartTime, double inDuration)
 Option to bring back the ZMP before any other motion (Disabled by default).
void tasksDuration (double inDuration)
 Modify reaching motion duration.
 ~ChppGikReachTask ()
 Destructor.

Protected Member Functions

virtual bool algorithmSolve ()
 The algorithm implemented by solve()

Detailed Description

Use this task to make the robot reach for a target.

The following options are available:

  • enable stepping if needed to achieve the reach (default: enabled)
  • apply a gaze constraint (default: disabled)
  • apply a parallelConstraint on the okayAxis (thumb up) of the hand (default: disabled)
  • go back to half sitting configuration after reaching (default: disabaled)

the reach target has to be set through method target() or the solve() algorithm will return false.

The options are not reset by method solve()


Constructor & Destructor Documentation

ChppGikReachTask::ChppGikReachTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod 
)

constructor

ChppGikReachTask::~ChppGikReachTask ( )

Destructor.


Member Function Documentation

virtual bool ChppGikReachTask::algorithmSolve ( ) [protected, virtual]

The algorithm implemented by solve()

Implements ChppGikRobotTask.

void ChppGikReachTask::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 ChppGikWholeBodyTask::bringBackZMP().

void ChppGikReachTask::disableGaze ( )

disable the gaze constraint

void ChppGikReachTask::disableOrientation ( )

disable the hand okayAxis orientation constraint

void ChppGikReachTask::gazeTarget ( const vector3d inGazeTarget)

enable the gaze constraint and set the gaze target (a point in world frame)

void ChppGikReachTask::handOrientation ( const vector3d inTargetOrientation)

enable the hand okayAxis constraint and set the target orientation (a vector in world frame) .

void ChppGikReachTask::steppingEnabled ( bool  inOption)

enable or disable stepping

void ChppGikReachTask::target ( const vector3d inReachTarget,
bool  isForRightHand 
)

set reach target (a point in world frame) and effector (a boolean indicating the hand: 'true' for 'right hand')

void ChppGikReachTask::tasksDuration ( double  inDuration) [inline]

Modify reaching motion duration.

References ChppGikWholeBodyTask::tasksDuration().