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 |
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.
robot | the robot, |
comc | a hpp::model::CenterOfMassComputation that handle COM computations. |
leftAnkle | left ankle joint, |
rightAnkle | right ankle joint, |
configuration | the configuration of the robot satisfying the constraint, |
Create a the following set of constraints:
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.
robot | the robot, |
comc | a hpp::model::CenterOfMassComputation that handle COM computations. |
leftAnkle | left ankle joint, |
rightAnkle | right ankle joint, |
configuration | the 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:
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.
robot,leftAnkle,rightAnkle,configuration | see createSlidingStabilityConstraint(const DevicePtr_t&, const JointPtr_t&, const JointPtr_t&, ConfigurationIn_t) |
References create(), and createSlidingStabilityConstraint().