A locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon. More...
#include <hpp/gik/motionplanner/element/zmp-shift-element.hh>
Public Member Functions | |
ChppGikZMPshiftElement (ChppGikStandingRobot *inSRobot, const vector3d &targetZMP, double inStartTime, double inDuration, double inSamplingPeriod) | |
Constructor. | |
void | targetZMP (const vector3d &targetZMP) |
Set target ZMP. | |
const vector3d & | targetZMP () |
Get target ZMP. | |
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. | |
void | startZMPCheck (bool inChoice) |
enable/disable the checking of the initial ZMP inside supportPolygon | |
~ChppGikZMPshiftElement () | |
Destructor. |
A locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon.
ChppGikZMPshiftElement::ChppGikZMPshiftElement | ( | ChppGikStandingRobot * | inSRobot, |
const vector3d & | targetZMP, | ||
double | inStartTime, | ||
double | inDuration, | ||
double | inSamplingPeriod | ||
) |
Constructor.
ChppGikZMPshiftElement::~ChppGikZMPshiftElement | ( | ) |
Destructor.
virtual CjrlGikMotionConstraint* ChppGikZMPshiftElement::clone | ( | ) | const [virtual] |
Clone constructor.
Implements CjrlGikMotionConstraint.
ChppGikTransformationConstraint* ChppGikZMPshiftElement::footConstraintAtTime | ( | double | inTime | ) | [virtual] |
Get foot transformation constraint at given time.
Implements ChppGikLocomotionElement.
virtual bool ChppGikZMPshiftElement::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.
void ChppGikZMPshiftElement::startZMPCheck | ( | bool | inChoice | ) |
enable/disable the checking of the initial ZMP inside supportPolygon
virtual CjrlGikStateConstraint* ChppGikZMPshiftElement::stateConstraintAtTime | ( | double | inTime | ) | [virtual] |
Get state constraint at a given time.
Implements CjrlGikMotionConstraint.
virtual CjrlFoot* ChppGikZMPshiftElement::supportFootAtTime | ( | double | inTime | ) | [virtual] |
Get the support foot joint at time inTime.
Implements ChppGikLocomotionElement.
void ChppGikZMPshiftElement::targetZMP | ( | const vector3d & | targetZMP | ) | [inline] |
Set target ZMP.
References targetZMP().
const vector3d& ChppGikZMPshiftElement::targetZMP | ( | ) | [inline] |
Get target ZMP.
Referenced by targetZMP().