A motion that return a constraint composed of a Com and a Foot transformation. More...
#include <hpp/gik/motionplanner/element/no-locomotion.hh>
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... | |
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... | |
ChppGikTransformationConstraint * | footConstraint () |
Get foot transformation constraint. More... | |
ChppGikComConstraint * | comConstraint () |
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 vectorN & | ZMP () |
Get the support foot. More... | |
~ChppGikNoLocomotion () | |
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.
ChppGikNoLocomotion::ChppGikNoLocomotion | ( | CjrlHumanoidDynamicRobot * | inRobot, |
CjrlFoot * | inConstrainedFoot, | ||
double | inStartTime, | ||
double | inEndTime, | ||
const vectorN & | inWorkingJoints, | ||
unsigned int | inPriority | ||
) |
Constructor.
ChppGikNoLocomotion::~ChppGikNoLocomotion | ( | ) |
Destructor.
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virtual |
Clone constructor.
Implements CjrlGikMotionConstraint.
ChppGikComConstraint* ChppGikNoLocomotion::comConstraint | ( | ) |
Get center of mass constraint.
void ChppGikNoLocomotion::endTime | ( | double | inEndTime | ) |
Set upper bound of definition interval.
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virtual |
Get upper bound of definition interval.
Implements CjrlGikMotionConstraint.
ChppGikTransformationConstraint* ChppGikNoLocomotion::footConstraint | ( | ) |
Get foot transformation constraint.
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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.
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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.
CjrlFoot* ChppGikNoLocomotion::supportFoot | ( | ) |
Get the support foot.
const vectorN& ChppGikNoLocomotion::ZMP | ( | ) |
Get the support foot.