A locomotion element for displacing a foot to the given footprint. More...
#include <hpp/gik/motionplanner/element/foot-displace-element.hh>
Public Member Functions | |
ChppGikFootDisplaceElement (ChppGikStandingRobot *inSRobot, double inStartTime, const ChppGikFootprint *inTargetFootprint, bool isRight, double inDuration, double inSamplingPeriod, double inHeight=0.05) | |
Constructor. More... | |
bool | isRight () const |
Tell if this step is to be done by the right foot. More... | |
bool | height () const |
Get the via point's height during step. More... | |
const ChppGikFootprint * | targetFootprint () const |
Get the target footprint. More... | |
virtual CjrlGikMotionConstraint * | clone () const |
Clone constructor. More... | |
virtual CjrlGikStateConstraint * | stateConstraintAtTime (double inTime) |
Get state constraint at a given time. More... | |
virtual ChppGikTransformationConstraint * | footConstraintAtTime (double inTime) |
Get foot transformation constraint at given time. More... | |
virtual CjrlFoot * | supportFootAtTime (double inTime) |
Get the support foot joint at time inTime. More... | |
virtual bool | plan (ChppGikSupportPolygon &supportPolygon, vector3d &ZMP) |
Plan stability-consistent ZMP and update given arguments in case of success. More... | |
~ChppGikFootDisplaceElement () | |
Destructor. More... | |
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ChppGikLocomotionElement (ChppGikStandingRobot *inSRobot, double inStartTime, double inDuration, double inSamplingPeriod) | |
constructor More... | |
CjrlDynamicRobot * | robot () |
Get a pointer to associated robot. More... | |
virtual void | preProlongate (double inPreProlongation) |
Mmake this motion constraint return the last planned constraint, from time endTime() to time endTime()+inProlongation. More... | |
virtual void | postProlongate (double inPostProlongation) |
Make this motion constraint return the first planned constraint from time current startTime()-inProlongation to current startTime(). More... | |
virtual void | startTime (double) |
Disactivated. More... | |
virtual double | startTime () |
Get the start time for this jrlGikMotionConstraint. More... | |
virtual double | endTime () |
Get the end time for this jrlGikMotionConstraint. More... | |
virtual double | duration () |
Get the duration of the original motion. More... | |
virtual CjrlGikMotionConstraint * | motionConstraint () |
Get a pointer to the motion constraint. More... | |
virtual matrixNxP & | ZMPmotion () |
Get the support foot joint at time inTime. More... | |
virtual | ~ChppGikLocomotionElement () |
Destructor. More... | |
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virtual | ~CjrlGikMotionConstraint () |
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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... | |
Additional Inherited Members | |
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double | attPreProlongation |
double | attPostProlongation |
double | attStartTime |
double | attEndTime |
double | attSamplingPeriod |
double | attEps |
double | attDuration |
double | attModifiedStart |
double | attModifiedEnd |
CjrlFoot * | attSupportFoot |
CjrlFoot * | attConstrainedFoot |
bool | attPlanSuccess |
matrixNxP | attZMPmotion |
CjrlHumanoidDynamicRobot * | attHumanoidRobot |
ChppGikStandingRobot * | attStandingRobot |
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CjrlGikMotionConstraint * | attMotionConstraint |
vectorN | attWorkingJoints |
unsigned int | attPriority |
CjrlDynamicRobot * | attRobot |
double | attDampingFactor |
A locomotion element for displacing a foot to the given footprint.
ChppGikFootDisplaceElement::ChppGikFootDisplaceElement | ( | ChppGikStandingRobot * | inSRobot, |
double | inStartTime, | ||
const ChppGikFootprint * | inTargetFootprint, | ||
bool | isRight, | ||
double | inDuration, | ||
double | inSamplingPeriod, | ||
double | inHeight = 0.05 |
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) |
Constructor.
ChppGikFootDisplaceElement::~ChppGikFootDisplaceElement | ( | ) |
Destructor.
Referenced by targetFootprint().
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virtual |
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virtual |
Get foot transformation constraint at given time.
Implements ChppGikLocomotionElement.
Referenced by targetFootprint().
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inline |
Get the via point's height during step.
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inline |
Tell if this step is to be done by the right foot.
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virtual |
Plan stability-consistent ZMP and update given arguments in case of success.
supportPolygon | used and modified by this element according to purpose |
ZMP | used and modified by this element according to purpose |
Implements ChppGikLocomotionElement.
Referenced by targetFootprint().
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virtual |
Get state constraint at a given time.
Implements CjrlGikMotionConstraint.
Referenced by targetFootprint().
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virtual |
Get the support foot joint at time inTime.
Implements ChppGikLocomotionElement.
Referenced by targetFootprint().
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inline |
Get the target footprint.
References clone(), footConstraintAtTime(), plan(), stateConstraintAtTime(), supportFootAtTime(), and ~ChppGikFootDisplaceElement().