A motion that return a constraint composed of a Com and a Foot transformation. More...
#include <hpp/gik/motionplanner/element/no-locomotion.hh>
Public Member Functions | |
ChppGikNoLocomotion (CjrlHumanoidDynamicRobot *inRobot, CjrlFoot *inConstrainedFoot, double inStartTime, double inEndTime, const vectorN &inWorkingJoints, unsigned int inPriority) | |
Constructor. | |
CjrlDynamicRobot * | robot () |
Get a pointer to associated robot. | |
CjrlGikMotionConstraint * | motionConstraint () |
Get a pointer to the motion constraint. | |
CjrlGikMotionConstraint * | clone () const |
Clone constructor. | |
CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. | |
ChppGikTransformationConstraint * | footConstraint () |
Get foot transformation constraint. | |
ChppGikComConstraint * | comConstraint () |
Get center of mass constraint. | |
void | startTime (double inStartTime) |
Set lower bound of definition interval. | |
void | endTime (double inEndTime) |
Set upper bound of definition interval. | |
double | startTime () |
Get lower bound of definition interval. | |
double | endTime () |
Get upper bound of definition interval. | |
CjrlFoot * | supportFoot () |
Get the support foot. | |
const vectorN & | ZMP () |
Get the support foot. | |
~ChppGikNoLocomotion () | |
Destructor. |
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.
ChppGikNoLocomotion::ChppGikNoLocomotion | ( | CjrlHumanoidDynamicRobot * | inRobot, |
CjrlFoot * | inConstrainedFoot, | ||
double | inStartTime, | ||
double | inEndTime, | ||
const vectorN & | inWorkingJoints, | ||
unsigned int | inPriority | ||
) |
Constructor.
ChppGikNoLocomotion::~ChppGikNoLocomotion | ( | ) |
Destructor.
CjrlGikMotionConstraint* ChppGikNoLocomotion::clone | ( | ) | const [virtual] |
Clone constructor.
Implements CjrlGikMotionConstraint.
ChppGikComConstraint* ChppGikNoLocomotion::comConstraint | ( | ) |
Get center of mass constraint.
void ChppGikNoLocomotion::endTime | ( | double | inEndTime | ) |
Set upper bound of definition interval.
double ChppGikNoLocomotion::endTime | ( | ) | [virtual] |
Get upper bound of definition interval.
Implements CjrlGikMotionConstraint.
ChppGikTransformationConstraint* ChppGikNoLocomotion::footConstraint | ( | ) |
Get foot transformation constraint.
CjrlGikMotionConstraint* ChppGikNoLocomotion::motionConstraint | ( | ) | [virtual] |
Get a pointer to the motion constraint.
Reimplemented from ChppGikPrioritizedMotion.
CjrlDynamicRobot* ChppGikNoLocomotion::robot | ( | ) | [virtual] |
Get a pointer to associated robot.
Implements CjrlGikMotionConstraint.
void ChppGikNoLocomotion::startTime | ( | double | inStartTime | ) | [virtual] |
Set lower bound of definition interval.
Implements CjrlGikMotionConstraint.
double ChppGikNoLocomotion::startTime | ( | ) | [virtual] |
Get lower bound of definition interval.
Implements CjrlGikMotionConstraint.
CjrlGikStateConstraint* ChppGikNoLocomotion::stateConstraintAtTime | ( | double | inTime | ) | [virtual] |
Get state constraint at a given time.
Implements CjrlGikMotionConstraint.
CjrlFoot* ChppGikNoLocomotion::supportFoot | ( | ) |
Get the support foot.
const vectorN& ChppGikNoLocomotion::ZMP | ( | ) |
Get the support foot.