A motion that return a constraint composed of a Com and a Foot transformation. More...
#include <hpp/gik/motionplanner/element/com-motion.hh>
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... | |
CjrlGikMotionConstraint * | motionConstraint () |
Get a pointer to the motion constraint. More... | |
CjrlGikMotionConstraint * | clone () const |
Clone constructor. More... | |
CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. More... | |
ChppGikComConstraint * | comConstraintAtTime (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... | |
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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... | |
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virtual | ~CjrlGikMotionConstraint () |
Additional Inherited Members | |
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CjrlGikMotionConstraint * | attMotionConstraint |
vectorN | attWorkingJoints |
unsigned int | attPriority |
CjrlDynamicRobot * | attRobot |
double | attDampingFactor |
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.
ChppGikComMotion::ChppGikComMotion | ( | CjrlDynamicRobot * | inRobot, |
double | inStartTime, | ||
double | inSamplingPeriod, | ||
const vectorN & | inWorkingJoints, | ||
unsigned int | inPriority | ||
) |
Constructor.
ChppGikComMotion::~ChppGikComMotion | ( | ) |
Destructor.
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virtual |
Clone constructor.
Implements CjrlGikMotionConstraint.
ChppGikComConstraint* ChppGikComMotion::comConstraintAtTime | ( | double | inTime | ) |
Get center of mass constraint at given time.
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virtual |
Get upper bound of definition interval.
Implements CjrlGikMotionConstraint.
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virtual |
Get a pointer to the motion constraint.
Reimplemented from ChppGikPrioritizedMotion.
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virtual |
Get a pointer to associated robot.
Implements CjrlGikMotionConstraint.
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()
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virtual |
Set lower bound of definition interval.
Implements CjrlGikMotionConstraint.
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virtual |
Get lower bound of definition interval.
Implements CjrlGikMotionConstraint.
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virtual |
Get state constraint at a given time.
Implements CjrlGikMotionConstraint.