ChppGikNoLocomotion Class Reference

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

#include <hpp/gik/motionplanner/element/no-locomotion.hh>

Inheritance diagram for ChppGikNoLocomotion:
Collaboration diagram for ChppGikNoLocomotion:

Public Member Functions

 ChppGikNoLocomotion (CjrlHumanoidDynamicRobot *inRobot, CjrlFoot *inConstrainedFoot, double inStartTime, double inEndTime, 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...
 
ChppGikTransformationConstraintfootConstraint ()
 Get foot transformation constraint. More...
 
ChppGikComConstraintcomConstraint ()
 Get center of mass constraint. More...
 
void startTime (double inStartTime)
 Set lower bound of definition interval. More...
 
void endTime (double inEndTime)
 Set upper bound of definition interval. More...
 
double startTime ()
 Get lower bound of definition interval. More...
 
double endTime ()
 Get upper bound of definition interval. More...
 
CjrlFoot * supportFoot ()
 Get the support foot. More...
 
const vectorNZMP ()
 Get the support foot. More...
 
 ~ChppGikNoLocomotion ()
 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

◆ ChppGikNoLocomotion()

ChppGikNoLocomotion::ChppGikNoLocomotion ( CjrlHumanoidDynamicRobot *  inRobot,
CjrlFoot *  inConstrainedFoot,
double  inStartTime,
double  inEndTime,
const vectorN inWorkingJoints,
unsigned int  inPriority 
)

Constructor.

Note
given times should be superior to 0.0

◆ ~ChppGikNoLocomotion()

ChppGikNoLocomotion::~ChppGikNoLocomotion ( )

Destructor.

Member Function Documentation

◆ clone()

CjrlGikMotionConstraint* ChppGikNoLocomotion::clone ( ) const
virtual

Clone constructor.

Implements CjrlGikMotionConstraint.

◆ comConstraint()

ChppGikComConstraint* ChppGikNoLocomotion::comConstraint ( )

Get center of mass constraint.

◆ endTime() [1/2]

void ChppGikNoLocomotion::endTime ( double  inEndTime)

Set upper bound of definition interval.

Note
inEndTime must be superior to startTIme()

◆ endTime() [2/2]

double ChppGikNoLocomotion::endTime ( )
virtual

Get upper bound of definition interval.

Implements CjrlGikMotionConstraint.

◆ footConstraint()

ChppGikTransformationConstraint* ChppGikNoLocomotion::footConstraint ( )

Get foot transformation constraint.

◆ motionConstraint()

CjrlGikMotionConstraint* ChppGikNoLocomotion::motionConstraint ( )
virtual

Get a pointer to the motion constraint.

Reimplemented from ChppGikPrioritizedMotion.

◆ robot()

CjrlDynamicRobot* ChppGikNoLocomotion::robot ( )
virtual

Get a pointer to associated robot.

Implements CjrlGikMotionConstraint.

◆ startTime() [1/2]

void ChppGikNoLocomotion::startTime ( double  inStartTime)
virtual

Set lower bound of definition interval.

Note
inStartTime must be between 0.0 and endTime()

Implements CjrlGikMotionConstraint.

◆ startTime() [2/2]

double ChppGikNoLocomotion::startTime ( )
virtual

Get lower bound of definition interval.

Implements CjrlGikMotionConstraint.

◆ stateConstraintAtTime()

CjrlGikStateConstraint* ChppGikNoLocomotion::stateConstraintAtTime ( double  inTime)
virtual

Get state constraint at a given time.

Implements CjrlGikMotionConstraint.

◆ supportFoot()

CjrlFoot* ChppGikNoLocomotion::supportFoot ( )

Get the support foot.

◆ ZMP()

const vectorN& ChppGikNoLocomotion::ZMP ( )

Get the support foot.