This is a robot task composed of a sequence of robot tasks. More...
#include <hpp/gik/task/meta-task.hh>
Public Member Functions | |
ChppGikMetaTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod) | |
constructor | |
void | pushbackTask (ChppGikRobotTask *inRobotTask) |
add a robot task at the end of the current stack of tasks | |
void | clearTasks () |
clear stack of robot tasks | |
void | bringBackZMP (bool inChoice, double inStartTime, double inDuration) |
Option to bring back the ZMP before any other motion (Disabled by default). | |
~ChppGikMetaTask () | |
Destructor. | |
Protected Member Functions | |
virtual bool | algorithmSolve () |
Solve for joint motion. |
This is a robot task composed of a sequence of robot tasks.
ChppGikMetaTask::ChppGikMetaTask | ( | ChppGikStandingRobot * | inStandingRobot, |
double | inSamplingPeriod | ||
) |
constructor
ChppGikMetaTask::~ChppGikMetaTask | ( | ) |
Destructor.
virtual bool ChppGikMetaTask::algorithmSolve | ( | ) | [protected, virtual] |
void ChppGikMetaTask::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.
void ChppGikMetaTask::clearTasks | ( | ) |
clear stack of robot tasks
void ChppGikMetaTask::pushbackTask | ( | ChppGikRobotTask * | inRobotTask | ) |
add a robot task at the end of the current stack of tasks