hpp::wholebodyStep Namespace Reference

Typedefs

typedef model::JointPtr_t JointPtr_t
typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t
typedef core::ConfigProjector ConfigProjector
typedef model::Configuration_t Configuration_t
typedef model::ConfigurationIn_t ConfigurationIn_t
typedef model::ConfigurationOut_t ConfigurationOut_t
typedef model::DevicePtr_t DevicePtr_t
typedef
core::NumericalConstraintPtr_t 
NumericalConstraintPtr_t
typedef model::HumanoidRobotPtr_t HumanoidRobotPtr_t
typedef core::value_type value_type
typedef core::size_type size_type
typedef
core::CenterOfMassComputationPtr_t 
CenterOfMassComputationPtr_t
typedef model::Transform3f Transform3f
typedef model::matrix3_t matrix3_t
typedef model::vector3_t vector3_t
typedef model::vector_t vector_t

Functions

std::vector
< NumericalConstraintPtr_t
createSlidingStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration)
 Create quasi-static stability constraints.
std::vector
< NumericalConstraintPtr_t
createSlidingStabilityConstraint (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration)
 Create quasi-static stability constraints The center of mass takes into account all the joints of the robot.
std::vector
< NumericalConstraintPtr_t
createAlignedCOMStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration)
 Constraints that ensure that the COM is between the two ankles.

Typedef Documentation

typedef model::HumanoidRobotPtr_t hpp::wholebodyStep::HumanoidRobotPtr_t
typedef model::matrix3_t hpp::wholebodyStep::matrix3_t
typedef model::Transform3f hpp::wholebodyStep::Transform3f
typedef model::vector3_t hpp::wholebodyStep::vector3_t

Function Documentation

std::vector< NumericalConstraintPtr_t > hpp::wholebodyStep::createAlignedCOMStabilityConstraint ( const DevicePtr_t robot,
const CenterOfMassComputationPtr_t comc,
const JointPtr_t leftAnkle,
const JointPtr_t rightAnkle,
ConfigurationIn_t  configuration 
)

Constraints that ensure that the COM is between the two ankles.

Parameters:
robotthe robot,
comca hpp::model::CenterOfMassComputation that handle COM computations.
leftAnkleleft ankle joint,
rightAnkleright ankle joint,
configurationthe configuration of the robot satisfying the constraint,

Create a the following set of constraints:

  • ComBetweenFeet constraints (dimension 3)
  • orientation of the right foot around x and y (dimension 2),
  • position of the right foot along z (dimension 1),
  • orientation of the left foot around x and y (dimension 2),
  • position of the left foot along z (dimension 1),

References hpp::core::NumericalConstraint::create(), create(), hpp::core::ComparisonTypes::create(), hpp::core::ComparisonType::EqualToZero, hpp::core::ComparisonType::Inferior, and hpp::core::ComparisonType::Superior.

std::vector< NumericalConstraintPtr_t > hpp::wholebodyStep::createSlidingStabilityConstraint ( const DevicePtr_t robot,
const CenterOfMassComputationPtr_t comc,
const JointPtr_t leftAnkle,
const JointPtr_t rightAnkle,
ConfigurationIn_t  configuration 
)

Create quasi-static stability constraints.

Parameters:
robotthe robot,
comca hpp::model::CenterOfMassComputation that handle COM computations.
leftAnkleleft ankle joint,
rightAnkleright ankle joint,
configurationthe configuration of the robot satisfying the constraint,

The constraints make the feet of the robot slide on a horizontal ground and the center of mass project at a constant position with respect to the feet. Five constraints are returned:

  • relative position of the center of mass (as defined with comc) in the left ankle frame (dimension 3),
  • relative orientation of the feet (dimension 3),
  • relative position of the feet (dimension 3),
  • orientation of the left foot (dimension 2),
  • position of the left foot (dimension 1).

All constraints are returned along with the hpp::core::ComparisonType::createDefault()

References hpp::core::NumericalConstraint::create(), and create().

Referenced by createSlidingStabilityConstraint().

std::vector< NumericalConstraintPtr_t > hpp::wholebodyStep::createSlidingStabilityConstraint ( const DevicePtr_t robot,
const JointPtr_t leftAnkle,
const JointPtr_t rightAnkle,
ConfigurationIn_t  configuration 
)

Create quasi-static stability constraints The center of mass takes into account all the joints of the robot.

Parameters:
robot,leftAnkle,rightAnkle,configurationsee createSlidingStabilityConstraint(const DevicePtr_t&, const JointPtr_t&, const JointPtr_t&, ConfigurationIn_t)

References create(), and createSlidingStabilityConstraint().