ChppGikStepBackTask Class Reference

This is a task to make the robot step back to have his feet parallel and symmetrical. More...

#include <hpp/gik/task/step-back-task.hh>

Inheritance diagram for ChppGikStepBackTask:
Collaboration diagram for ChppGikStepBackTask:

List of all members.

Public Member Functions

 ChppGikStepBackTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod)
 constructor
void automaticFoot (bool mode=true, bool footIsRight=true)
 Manual mode.
double targetFeetDistance ()
 get the target feet fistance between the feet
void targetFeetDistance (double inFeetDistance)
 Set the target distance between the feet.
void bringBackZMP (bool inChoice, double inStartTime, double inDuration)
 Option to bring back the ZMP before any other motion (Disabled by default).
 ~ChppGikStepBackTask ()
 Destructor.

Protected Member Functions

virtual bool algorithmSolve ()
 Solve for joint motion.

Detailed Description

This is a task to make the robot step back to have his feet parallel and symmetrical.


Constructor & Destructor Documentation

ChppGikStepBackTask::ChppGikStepBackTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod 
)

constructor

ChppGikStepBackTask::~ChppGikStepBackTask ( )

Destructor.


Member Function Documentation

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

Solve for joint motion.

If the feet are already at target position, this method returns true but the solution motion is empty.

Implements ChppGikRobotTask.

void ChppGikStepBackTask::automaticFoot ( bool  mode = true,
bool  footIsRight = true 
)

Manual mode.

void ChppGikStepBackTask::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 ChppGikGenericTask::bringBackZMP().

double ChppGikStepBackTask::targetFeetDistance ( )

get the target feet fistance between the feet

void ChppGikStepBackTask::targetFeetDistance ( double  inFeetDistance)

Set the target distance between the feet.