ChppGikComMotion Class Reference

A motion that return a constraint composed of a Com and a Foot transformation. More...

#include <hpp/gik/motionplanner/element/com-motion.hh>

Inheritance diagram for ChppGikComMotion:
Collaboration diagram for ChppGikComMotion:

Public Member Functions

 ChppGikComMotion (CjrlDynamicRobot *inRobot, double inStartTime, double inSamplingPeriod, const vectorN &inWorkingJoints, unsigned int inPriority)
 Constructor. More...
 
CjrlDynamicRobot * robot ()
 Get a pointer to associated robot. More...
 
CjrlGikMotionConstraintmotionConstraint ()
 Get a pointer to the motion constraint. More...
 
CjrlGikMotionConstraintclone () const
 Clone constructor. More...
 
CjrlGikStateConstraintstateConstraintAtTime (double inTime)
 Get state constraint at a given time. More...
 
ChppGikComConstraintcomConstraintAtTime (double inTime)
 Get center of mass constraint at given time. More...
 
void startTime (double inStartTime)
 Set lower bound of definition interval. More...
 
double startTime ()
 Get lower bound of definition interval. More...
 
double endTime ()
 Get upper bound of definition interval. More...
 
bool setSamples (const matrixNxP &inSamples)
 Set COM trajectory as a 2-by-(N+1) matrix. More...
 
 ~ChppGikComMotion ()
 Destructor. More...
 
- Public Member Functions inherited from ChppGikPrioritizedMotion
 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 vectorNworkingJoints () 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...
 
- Public Member Functions inherited from CjrlGikMotionConstraint
virtual ~CjrlGikMotionConstraint ()
 

Additional Inherited Members

- Protected Attributes inherited from ChppGikPrioritizedMotion
CjrlGikMotionConstraintattMotionConstraint
 
vectorN attWorkingJoints
 
unsigned int attPriority
 
CjrlDynamicRobot * attRobot
 
double attDampingFactor
 

Detailed Description

A motion that return a constraint composed of a Com and a Foot transformation.

The constraint is built upon construction and is returned between startTime and endTime.

Constructor & Destructor Documentation

◆ ChppGikComMotion()

ChppGikComMotion::ChppGikComMotion ( CjrlDynamicRobot *  inRobot,
double  inStartTime,
double  inSamplingPeriod,
const vectorN inWorkingJoints,
unsigned int  inPriority 
)

Constructor.

Note
given times should be superior to 0.0

◆ ~ChppGikComMotion()

ChppGikComMotion::~ChppGikComMotion ( )

Destructor.

Member Function Documentation

◆ clone()

CjrlGikMotionConstraint* ChppGikComMotion::clone ( ) const
virtual

Clone constructor.

Implements CjrlGikMotionConstraint.

◆ comConstraintAtTime()

ChppGikComConstraint* ChppGikComMotion::comConstraintAtTime ( double  inTime)

Get center of mass constraint at given time.

◆ endTime()

double ChppGikComMotion::endTime ( )
virtual

Get upper bound of definition interval.

Implements CjrlGikMotionConstraint.

◆ motionConstraint()

CjrlGikMotionConstraint* ChppGikComMotion::motionConstraint ( )
virtual

Get a pointer to the motion constraint.

Reimplemented from ChppGikPrioritizedMotion.

◆ robot()

CjrlDynamicRobot* ChppGikComMotion::robot ( )
virtual

Get a pointer to associated robot.

Implements CjrlGikMotionConstraint.

◆ setSamples()

bool ChppGikComMotion::setSamples ( const matrixNxP inSamples)

Set COM trajectory as a 2-by-(N+1) matrix.

We have N*SamplingPeriod = motion_duration, the first sample being ignored by stateConstraintAtTime()

Returns
False when entered matrix does not have exactly 2 rows

◆ startTime() [1/2]

void ChppGikComMotion::startTime ( double  inStartTime)
virtual

Set lower bound of definition interval.

Note
inStartTime must be >= 0

Implements CjrlGikMotionConstraint.

◆ startTime() [2/2]

double ChppGikComMotion::startTime ( )
virtual

Get lower bound of definition interval.

Implements CjrlGikMotionConstraint.

◆ stateConstraintAtTime()

CjrlGikStateConstraint* ChppGikComMotion::stateConstraintAtTime ( double  inTime)
virtual

Get state constraint at a given time.

Implements CjrlGikMotionConstraint.