ChppGikNoLocomotion Class Reference

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

#include <hpp/gik/motionplanner/element/no-locomotion.hh>

Inheritance diagram for ChppGikNoLocomotion:
Collaboration diagram for ChppGikNoLocomotion:

List of all members.

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.
CjrlGikMotionConstraintmotionConstraint ()
 Get a pointer to the motion constraint.
CjrlGikMotionConstraintclone () const
 Clone constructor.
CjrlGikStateConstraintstateConstraintAtTime (double inTime)
 Get state constraint at a given time.
ChppGikTransformationConstraintfootConstraint ()
 Get foot transformation constraint.
ChppGikComConstraintcomConstraint ()
 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 vectorNZMP ()
 Get the support foot.
 ~ChppGikNoLocomotion ()
 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

ChppGikNoLocomotion::ChppGikNoLocomotion ( CjrlHumanoidDynamicRobot *  inRobot,
CjrlFoot *  inConstrainedFoot,
double  inStartTime,
double  inEndTime,
const vectorN inWorkingJoints,
unsigned int  inPriority 
)

Constructor.

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

Destructor.


Member Function Documentation

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.

Note:
inEndTime must be superior to startTIme()
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.

Note:
inStartTime must be between 0.0 and endTime()

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.