A locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon. More...
#include <hpp/gik/motionplanner/element/zmp-shift-element.hh>
Public Member Functions | |
ChppGikZMPshiftElement (ChppGikStandingRobot *inSRobot, const vector3d &targetZMP, double inStartTime, double inDuration, double inSamplingPeriod) | |
Constructor. More... | |
void | targetZMP (const vector3d &targetZMP) |
Set target ZMP. More... | |
const vector3d & | targetZMP () |
Get target ZMP. More... | |
virtual CjrlGikMotionConstraint * | clone () const |
Clone constructor. More... | |
virtual CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. More... | |
ChppGikTransformationConstraint * | footConstraintAtTime (double inTime) |
Get foot transformation constraint at given time. More... | |
virtual CjrlFoot * | supportFootAtTime (double inTime) |
Get the support foot joint at time inTime. More... | |
virtual bool | plan (ChppGikSupportPolygon &supportPolygon, vector3d &ZMP) |
Plan stability-consistent ZMP and update given arguments in case of success. More... | |
void | startZMPCheck (bool inChoice) |
enable/disable the checking of the initial ZMP inside supportPolygon More... | |
~ChppGikZMPshiftElement () | |
Destructor. More... | |
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ChppGikLocomotionElement (ChppGikStandingRobot *inSRobot, double inStartTime, double inDuration, double inSamplingPeriod) | |
constructor More... | |
CjrlDynamicRobot * | robot () |
Get a pointer to associated robot. More... | |
virtual void | preProlongate (double inPreProlongation) |
Mmake this motion constraint return the last planned constraint, from time endTime() to time endTime()+inProlongation. More... | |
virtual void | postProlongate (double inPostProlongation) |
Make this motion constraint return the first planned constraint from time current startTime()-inProlongation to current startTime(). More... | |
virtual void | startTime (double) |
Disactivated. More... | |
virtual double | startTime () |
Get the start time for this jrlGikMotionConstraint. More... | |
virtual double | endTime () |
Get the end time for this jrlGikMotionConstraint. More... | |
virtual double | duration () |
Get the duration of the original motion. More... | |
virtual CjrlGikMotionConstraint * | motionConstraint () |
Get a pointer to the motion constraint. More... | |
virtual matrixNxP & | ZMPmotion () |
Get the support foot joint at time inTime. More... | |
virtual | ~ChppGikLocomotionElement () |
Destructor. More... | |
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virtual | ~CjrlGikMotionConstraint () |
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ChppGikPrioritizedMotion (CjrlDynamicRobot *inRobot, unsigned int inPriority, CjrlGikMotionConstraint *inMotionConstraint, double inDampingFactor) | |
Constructor. More... | |
void | workingJoints (const vectorN &inJointsMask) |
Set the joint mask put to work. More... | |
const vectorN & | workingJoints () const |
Get the joint mask put to work. More... | |
unsigned int | priority () const |
Get the priority. More... | |
double | dampingFactor () const |
Get the damping factor. More... | |
CjrlDynamicRobot * | robot () |
Get the robot for this motion. More... | |
virtual | ~ChppGikPrioritizedMotion () |
Destructor. More... | |
Additional Inherited Members | |
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double | attPreProlongation |
double | attPostProlongation |
double | attStartTime |
double | attEndTime |
double | attSamplingPeriod |
double | attEps |
double | attDuration |
double | attModifiedStart |
double | attModifiedEnd |
CjrlFoot * | attSupportFoot |
CjrlFoot * | attConstrainedFoot |
bool | attPlanSuccess |
matrixNxP | attZMPmotion |
CjrlHumanoidDynamicRobot * | attHumanoidRobot |
ChppGikStandingRobot * | attStandingRobot |
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CjrlGikMotionConstraint * | attMotionConstraint |
vectorN | attWorkingJoints |
unsigned int | attPriority |
CjrlDynamicRobot * | attRobot |
double | attDampingFactor |
A locomotion element for shifting the body mass by planning a linear zmp motion inside the support polygon.
ChppGikZMPshiftElement::ChppGikZMPshiftElement | ( | ChppGikStandingRobot * | inSRobot, |
const vector3d & | targetZMP, | ||
double | inStartTime, | ||
double | inDuration, | ||
double | inSamplingPeriod | ||
) |
Constructor.
ChppGikZMPshiftElement::~ChppGikZMPshiftElement | ( | ) |
Destructor.
Referenced by targetZMP().
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virtual |
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virtual |
Get foot transformation constraint at given time.
Implements ChppGikLocomotionElement.
Referenced by targetZMP().
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virtual |
Plan stability-consistent ZMP and update given arguments in case of success.
supportPolygon | used and modified by this element according to purpose |
ZMP | used and modified by this element according to purpose |
Implements ChppGikLocomotionElement.
Referenced by targetZMP().
void ChppGikZMPshiftElement::startZMPCheck | ( | bool | inChoice | ) |
enable/disable the checking of the initial ZMP inside supportPolygon
Referenced by targetZMP().
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virtual |
Get state constraint at a given time.
Implements CjrlGikMotionConstraint.
Referenced by targetZMP().
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virtual |
Get the support foot joint at time inTime.
Implements ChppGikLocomotionElement.
Referenced by targetZMP().
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inline |
Set target ZMP.
References targetZMP().
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inline |
Get target ZMP.
References clone(), footConstraintAtTime(), plan(), startZMPCheck(), stateConstraintAtTime(), supportFootAtTime(), and ~ChppGikZMPshiftElement().
Referenced by targetZMP().