ChppGikHalfSittingTask Class Reference

This robot task consists in going back to half-sitting stance. More...

#include <hpp/gik/task/half-sitting-task.hh>

Inheritance diagram for ChppGikHalfSittingTask:
Collaboration diagram for ChppGikHalfSittingTask:

Public Member Functions

 ChppGikHalfSittingTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod)
 constructor More...
 
void automaticFoot (bool mode=true, bool footIsRight=true)
 Manual mode. More...
 
void bringBackZMP (bool inChoice, double inStartTime, double inDuration)
 Option to bring back the ZMP before any other motion (Disabled by default). More...
 
virtual ~ChppGikHalfSittingTask ()
 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 ()
 The algorithm implemented by solve() 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...
 

Protected Attributes

CjrlRobotConfiguration attHalfSitting
 
ChppGikStepBackTaskattStepBackTask
 
ChppGikGenericTaskattGenericTask
 
double attBringStart
 
double attBringDuration
 
double attBringChoice
 
- 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 robot task consists in going back to half-sitting stance.

Constructor & Destructor Documentation

◆ ChppGikHalfSittingTask()

ChppGikHalfSittingTask::ChppGikHalfSittingTask ( ChppGikStandingRobot inStandingRobot,
double  inSamplingPeriod 
)

constructor

◆ ~ChppGikHalfSittingTask()

virtual ChppGikHalfSittingTask::~ChppGikHalfSittingTask ( )
virtual

Destructor.

Referenced by bringBackZMP().

Member Function Documentation

◆ algorithmSolve()

virtual bool ChppGikHalfSittingTask::algorithmSolve ( )
protectedvirtual

The algorithm implemented by solve()

Implements ChppGikRobotTask.

Referenced by bringBackZMP().

◆ automaticFoot()

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

Manual mode.

◆ bringBackZMP()

void ChppGikHalfSittingTask::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(), attBringChoice, attBringDuration, attBringStart, and ~ChppGikHalfSittingTask().

Member Data Documentation

◆ attBringChoice

double ChppGikHalfSittingTask::attBringChoice
protected

Referenced by bringBackZMP().

◆ attBringDuration

double ChppGikHalfSittingTask::attBringDuration
protected

Referenced by bringBackZMP().

◆ attBringStart

double ChppGikHalfSittingTask::attBringStart
protected

Referenced by bringBackZMP().

◆ attGenericTask

ChppGikGenericTask* ChppGikHalfSittingTask::attGenericTask
protected

◆ attHalfSitting

CjrlRobotConfiguration ChppGikHalfSittingTask::attHalfSitting
protected

◆ attStepBackTask

ChppGikStepBackTask* ChppGikHalfSittingTask::attStepBackTask
protected