ChppGikComMotion Class Reference

A motion that return a constraint composed of a Com and a Foot transformation. More...

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

Inheritance diagram for ChppGikComMotion:
Collaboration diagram for ChppGikComMotion:

List of all members.

Public Member Functions

 ChppGikComMotion (CjrlDynamicRobot *inRobot, double inStartTime, double inSamplingPeriod, const vectorN &inWorkingJoints, unsigned int inPriority)
 Constructor.
CjrlDynamicRobot * robot ()
 Get a pointer to associated robot.
CjrlGikMotionConstraintmotionConstraint ()
 Get a pointer to the motion constraint.
CjrlGikMotionConstraintclone () const
 Clone constructor.
CjrlGikStateConstraintstateConstraintAtTime (double inTime)
 Get state constraint at a given time.
ChppGikComConstraintcomConstraintAtTime (double inTime)
 Get center of mass constraint at given time.
void startTime (double inStartTime)
 Set lower bound of definition interval.
double startTime ()
 Get lower bound of definition interval.
double endTime ()
 Get upper bound of definition interval.
bool setSamples (const matrixNxP &inSamples)
 Set COM trajectory as a 2-by-(N+1) matrix.
 ~ChppGikComMotion ()
 Destructor.

Detailed Description

A motion that return a constraint composed of a Com and a Foot transformation.

The constraint is built upon construction and is returned between startTime and endTime.


Constructor & Destructor Documentation

ChppGikComMotion::ChppGikComMotion ( CjrlDynamicRobot *  inRobot,
double  inStartTime,
double  inSamplingPeriod,
const vectorN inWorkingJoints,
unsigned int  inPriority 
)

Constructor.

Note:
given times should be superior to 0.0
ChppGikComMotion::~ChppGikComMotion ( )

Destructor.


Member Function Documentation

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

Clone constructor.

Implements CjrlGikMotionConstraint.

ChppGikComConstraint* ChppGikComMotion::comConstraintAtTime ( double  inTime)

Get center of mass constraint at given time.

double ChppGikComMotion::endTime ( ) [virtual]

Get upper bound of definition interval.

Implements CjrlGikMotionConstraint.

CjrlGikMotionConstraint* ChppGikComMotion::motionConstraint ( ) [virtual]

Get a pointer to the motion constraint.

Reimplemented from ChppGikPrioritizedMotion.

CjrlDynamicRobot* ChppGikComMotion::robot ( ) [virtual]

Get a pointer to associated robot.

Implements CjrlGikMotionConstraint.

bool ChppGikComMotion::setSamples ( const matrixNxP inSamples)

Set COM trajectory as a 2-by-(N+1) matrix.

We have N*SamplingPeriod = motion_duration, the first sample being ignored by stateConstraintAtTime()

Returns:
False when entered matrix does not have exactly 2 rows
void ChppGikComMotion::startTime ( double  inStartTime) [virtual]

Set lower bound of definition interval.

Note:
inStartTime must be >= 0

Implements CjrlGikMotionConstraint.

double ChppGikComMotion::startTime ( ) [virtual]

Get lower bound of definition interval.

Implements CjrlGikMotionConstraint.

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

Get state constraint at a given time.

Implements CjrlGikMotionConstraint.