This is a task to make the robot do a single step. More...
#include <hpp/gik/task/step-task.hh>
Public Member Functions | |
ChppGikStepTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod, bool inForRightFoot, double relativeTargetX, double relativeTargetY, double relativeTargetTheta) | |
constructor More... | |
void | forRightFoot (bool inOption) |
set the foot for this Step. More... | |
void | relativeTarget (double relativeTargetX, double relativeTargetY, double relativeTargetTheta) |
Set the target in the frame of the support foot (relative step) More... | |
void | bringBackZMP (bool inChoice, double inStartTime, double inDuration) |
Option to bring back the ZMP before any other motion (Disabled by default). More... | |
~ChppGikStepTask () | |
Destructor. More... | |
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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... | |
ChppRobotMotion & | solutionMotion () const |
Get the computed solution motion. More... | |
virtual | ~ChppGikRobotTask () |
destructor More... | |
Protected Member Functions | |
virtual bool | algorithmSolve () |
Solve for joint motion. More... | |
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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 | |
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ChppGikStandingRobot * | attStandingRobot |
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... | |
ChppRobotMotion * | attSolutionMotion |
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 |
This is a task to make the robot do a single step.
Call solve() to plan joint motion for a step given in support foot frame (origin is projection of ankle on floor, x axis pointing to the toes, y axis pointing to the left and z upward). Orientation of displaced foot is defined by the angle it will make with axis x of support foot.
ChppGikStepTask::ChppGikStepTask | ( | ChppGikStandingRobot * | inStandingRobot, |
double | inSamplingPeriod, | ||
bool | inForRightFoot, | ||
double | relativeTargetX, | ||
double | relativeTargetY, | ||
double | relativeTargetTheta | ||
) |
constructor
ChppGikStepTask::~ChppGikStepTask | ( | ) |
Destructor.
Referenced by bringBackZMP().
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protectedvirtual |
Solve for joint motion.
Robot must have a double support polygon
Implements ChppGikRobotTask.
Referenced by bringBackZMP().
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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 ~ChppGikStepTask().
void ChppGikStepTask::forRightFoot | ( | bool | inOption | ) |
set the foot for this Step.
true = right foot, false = left foot
void ChppGikStepTask::relativeTarget | ( | double | relativeTargetX, |
double | relativeTargetY, | ||
double | relativeTargetTheta | ||
) |
Set the target in the frame of the support foot (relative step)