This is a locomotion plan for objects of type ChppGikLocomotionElement. More...
#include <hpp/gik/motionplanner/locomotion-plan.hh>
Public Member Functions | |
~ChppGikLocomotionPlan () | |
Destructor. More... | |
Construction | |
{@ | |
ChppGikLocomotionPlan (ChppGikMotionPlan *inAssociatedMotionPlan, ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod) | |
Constructor. More... | |
bool | addElement (ChppGikLocomotionElement *inElement) |
Add a locomotion element (the object is not copied). More... | |
void | clearElements () |
Delete entered elements (the object deleted) More... | |
double | endTime () |
Get the end time according to entered elements. More... | |
double | startTime () |
Get the start time according to entered elements. More... | |
double | extraEndTime () |
Get an extra end time. More... | |
void | extraEndTime (double inDuration) |
Set an extra end time. More... | |
Computations | |
{@ | |
bool | solve () |
Solve = based on the entered elements do: More... | |
bool | getWeightsAtTime (double inTime, vectorN &outWeights) |
Get an appropriate joints weighting vecotr according to current task. More... | |
bool | getZMPAtTime (double inTime, vectorN &outZMP) |
Get planned ZMP at time inTime. More... | |
const ChppGikLocomotionElement * | activeElement (double inTime) const |
Get the currently active task if any. More... | |
CjrlJoint * | supportFootJoint (double inTime) |
Get the default support foot joint at the given time. More... | |
ChppGikLocomotionData * | dataAtTime (double inTime) |
Get all locomotion data at given time. More... | |
bool | filterZMP (matrixNxP &zmpError) |
filter ZMP trajectory. More... | |
This is a locomotion plan for objects of type ChppGikLocomotionElement.
its purpose is to transform ChppGikLocomotionElement objects into ChppGikPrioritizedMotion objects which can be inserted in a ChppGikMotionPlan object
ChppGikLocomotionPlan::ChppGikLocomotionPlan | ( | ChppGikMotionPlan * | inAssociatedMotionPlan, |
ChppGikStandingRobot * | inStandingRobot, | ||
double | inSamplingPeriod | ||
) |
Constructor.
ChppGikLocomotionPlan::~ChppGikLocomotionPlan | ( | ) |
Destructor.
const ChppGikLocomotionElement* ChppGikLocomotionPlan::activeElement | ( | double | inTime | ) | const |
Get the currently active task if any.
bool ChppGikLocomotionPlan::addElement | ( | ChppGikLocomotionElement * | inElement | ) |
Add a locomotion element (the object is not copied).
void ChppGikLocomotionPlan::clearElements | ( | ) |
Delete entered elements (the object deleted)
ChppGikLocomotionData* ChppGikLocomotionPlan::dataAtTime | ( | double | inTime | ) |
Get all locomotion data at given time.
double ChppGikLocomotionPlan::endTime | ( | ) |
Get the end time according to entered elements.
double ChppGikLocomotionPlan::extraEndTime | ( | ) |
Get an extra end time.
void ChppGikLocomotionPlan::extraEndTime | ( | double | inDuration | ) |
Set an extra end time.
bool ChppGikLocomotionPlan::filterZMP | ( | matrixNxP & | zmpError | ) |
filter ZMP trajectory.
bool ChppGikLocomotionPlan::getWeightsAtTime | ( | double | inTime, |
vectorN & | outWeights | ||
) |
Get an appropriate joints weighting vecotr according to current task.
bool ChppGikLocomotionPlan::getZMPAtTime | ( | double | inTime, |
vectorN & | outZMP | ||
) |
Get planned ZMP at time inTime.
bool ChppGikLocomotionPlan::solve | ( | ) |
Solve = based on the entered elements do:
double ChppGikLocomotionPlan::startTime | ( | ) |
Get the start time according to entered elements.
CjrlJoint* ChppGikLocomotionPlan::supportFootJoint | ( | double | inTime | ) |
Get the default support foot joint at the given time.