ChppGikStepBackTask Class Reference

This is a task to make the robot step back to have his feet parallel and symmetrical. More...

#include <hpp/gik/task/step-back-task.hh>

Inheritance diagram for ChppGikStepBackTask:
Collaboration diagram for ChppGikStepBackTask:

Public Member Functions

 ChppGikStepBackTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod)
 constructor More...
 
void automaticFoot (bool mode=true, bool footIsRight=true)
 Manual mode. More...
 
double targetFeetDistance ()
 get the target feet fistance between the feet More...
 
void targetFeetDistance (double inFeetDistance)
 Set the target distance between the feet. More...
 
void bringBackZMP (bool inChoice, double inStartTime, double inDuration)
 Option to bring back the ZMP before any other motion (Disabled by default). More...
 
 ~ChppGikStepBackTask ()
 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 ()
 Solve for joint motion. 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 task to make the robot step back to have his feet parallel and symmetrical.

Constructor & Destructor Documentation

◆ ChppGikStepBackTask()

ChppGikStepBackTask::ChppGikStepBackTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod 
)

constructor

◆ ~ChppGikStepBackTask()

ChppGikStepBackTask::~ChppGikStepBackTask ( )

Destructor.

Referenced by bringBackZMP().

Member Function Documentation

◆ algorithmSolve()

virtual bool ChppGikStepBackTask::algorithmSolve ( )
protectedvirtual

Solve for joint motion.

If the feet are already at target position, this method returns true but the solution motion is empty.

Implements ChppGikRobotTask.

Referenced by bringBackZMP().

◆ automaticFoot()

void ChppGikStepBackTask::automaticFoot ( bool  mode = true,
bool  footIsRight = true 
)

Manual mode.

◆ bringBackZMP()

void ChppGikStepBackTask::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(), ChppGikGenericTask::bringBackZMP(), and ~ChppGikStepBackTask().

◆ targetFeetDistance() [1/2]

double ChppGikStepBackTask::targetFeetDistance ( )

get the target feet fistance between the feet

◆ targetFeetDistance() [2/2]

void ChppGikStepBackTask::targetFeetDistance ( double  inFeetDistance)

Set the target distance between the feet.