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>
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. |
This is a task to make the robot step back to have his feet parallel and symmetrical.
ChppGikStepBackTask::ChppGikStepBackTask | ( | ChppGikStandingRobot * | inStandingRobot, |
double | inSamplingPeriod | ||
) |
constructor
ChppGikStepBackTask::~ChppGikStepBackTask | ( | ) |
Destructor.
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.