ChppGikHandTask Class Reference

This is a robot hand task. More...

#include <hpp/gik/task/hand-task.hh>

Inheritance diagram for ChppGikHandTask:
Collaboration diagram for ChppGikHandTask:

Public Member Functions

 ChppGikHandTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod)
 constructor More...
 
void forRightHand (bool inSwitch)
 Set the hand. More...
 
double targetClench ()
 get the target clench value More...
 
void targetClench (double inTargetClenchValue)
 Set the target clench value. More...
 
void motionDuration (double inMotionDuration)
 Set the motion duration. More...
 
double motionDuration ()
 Get the motion duration. More...
 
void bringBackZMP (bool, double, double)
 Option to bring back the ZMP before any other motion (Disabled by default). More...
 
 ~ChppGikHandTask ()
 Destructor. More...
 
- Public Member Functions inherited from ChppGikRobotTask
 ChppGikRobotTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod, const char *inTaskName)
 Constructor. More...
 
bool solve ()
 Solve for joint motion. More...
 
void showResolutionTime (bool inSwitch)
 show the resolution time More...
 
ChppRobotMotionsolutionMotion () const
 Get the computed solution motion. More...
 
virtual ~ChppGikRobotTask ()
 destructor More...
 

Protected Member Functions

virtual bool algorithmSolve ()
 The algorithm implemented by solve() More...
 
- Protected Member Functions inherited from ChppGikRobotTask
void cleanUp ()
 Delete objects created in this instance. More...
 
void backupRobot ()
 Backup current robot configuration (q, dot q, ddot q) More...
 
void restoreRobot ()
 Restore saved robot configuration (q, dot q, ddot q) and compute forward kinematics. More...
 
void cropMotion (ChppGikRobotTask *inRobotTask)
 concatanate a task solution motion to the current attSolutionMotion and apply the last solution configuration to the robot. More...
 

Additional Inherited Members

- Protected Attributes inherited from ChppGikRobotTask
ChppGikStandingRobotattStandingRobot
 Associated robot. More...
 
double attSamplingPeriod
 Motion sampling period and its half. More...
 
double attEps
 
double attStartTime
 Start time. More...
 
bool attShowTime
 option to show resolution time More...
 
ChppRobotMotionattSolutionMotion
 The solution joint motion. More...
 
std::string attTaskName
 This task's name. More...
 
CjrlRobotConfiguration attInitialConfiguration
 Backup of robot configuration before task solving {. More...
 
struct timeval * Tps
 timimg {@ More...
 
struct timeval * Tpf
 
struct timezone * Tzp
 

Detailed Description

This is a robot hand task.

It can be used to plan joint motion to change the clench of a hand. The clench is represented by a single scalar value ranging from 0 (open hand) to 1 (closed hand). Joint motion is a slow minimum jerk motion from current to target clench.

Constructor & Destructor Documentation

◆ ChppGikHandTask()

ChppGikHandTask::ChppGikHandTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod 
)

constructor

◆ ~ChppGikHandTask()

ChppGikHandTask::~ChppGikHandTask ( )

Destructor.

Referenced by bringBackZMP().

Member Function Documentation

◆ algorithmSolve()

virtual bool ChppGikHandTask::algorithmSolve ( )
protectedvirtual

The algorithm implemented by solve()

Implements ChppGikRobotTask.

Referenced by bringBackZMP().

◆ bringBackZMP()

void ChppGikHandTask::bringBackZMP ( bool  inChoice,
double  inStartTime,
double  inDuration 
)
inlinevirtual

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 algorithmSolve(), and ~ChppGikHandTask().

◆ forRightHand()

void ChppGikHandTask::forRightHand ( bool  inSwitch)

Set the hand.

true = right hand, false = left

◆ motionDuration() [1/2]

void ChppGikHandTask::motionDuration ( double  inMotionDuration)

Set the motion duration.

◆ motionDuration() [2/2]

double ChppGikHandTask::motionDuration ( )

Get the motion duration.

◆ targetClench() [1/2]

double ChppGikHandTask::targetClench ( )

get the target clench value

◆ targetClench() [2/2]

void ChppGikHandTask::targetClench ( double  inTargetClenchValue)

Set the target clench value.