A locomotion element is a motion planning task that produces threes motion chunks: a 2D Zero Momentum Point motion, a foot motion constraint and a support polygon motion. More...
#include <hpp/gik/motionplanner/element/locomotion-element.hh>
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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 ChppGikTransformationConstraint * | footConstraintAtTime (double inTime)=0 |
Get the foot transformation constraint at given time. 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 CjrlFoot * | supportFootAtTime (double inTime)=0 |
Get the support foot joint at time inTime. More... | |
virtual bool | plan (ChppGikSupportPolygon &supportPolygon, vector3d &ZMP)=0 |
Plan stability-consistent ZMP and update given arguments in case of success. More... | |
virtual | ~ChppGikLocomotionElement () |
Destructor. More... | |
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virtual CjrlGikMotionConstraint * | clone () const=0 |
virtual CjrlGikStateConstraint * | stateConstraintAtTime (double inTime)=0 |
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... | |
Protected Attributes | |
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 is a motion planning task that produces threes motion chunks: a 2D Zero Momentum Point motion, a foot motion constraint and a support polygon motion.
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inline |
constructor
References attConstrainedFoot, attDuration, attEndTime, attEps, attHumanoidRobot, attModifiedEnd, attModifiedStart, attPlanSuccess, attPostProlongation, attPreProlongation, attSamplingPeriod, attStandingRobot, attStartTime, attSupportFoot, attZMPmotion, and ChppGikStandingRobot::robot().
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inlinevirtual |
Destructor.
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inlinevirtual |
Get the duration of the original motion.
References attDuration.
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inlinevirtual |
Get the end time for this jrlGikMotionConstraint.
Implements CjrlGikMotionConstraint.
References attModifiedEnd.
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pure virtual |
Get the foot transformation constraint at given time.
Implemented in ChppGikFootDisplaceElement, ChppGikZMPshiftElement, ChppGikStepElement, and ChppGikWalkElement.
Referenced by robot().
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inlinevirtual |
Get a pointer to the motion constraint.
Reimplemented from ChppGikPrioritizedMotion.
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pure 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 |
Implemented in ChppGikFootDisplaceElement, ChppGikZMPshiftElement, ChppGikStepElement, and ChppGikWalkElement.
Referenced by ZMPmotion().
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inlinevirtual |
Make this motion constraint return the first planned constraint from time current startTime()-inProlongation to current startTime().
Reimplemented in ChppGikStepElement, and ChppGikWalkElement.
References attEndTime, attModifiedEnd, attPlanSuccess, and attPostProlongation.
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inlinevirtual |
Mmake this motion constraint return the last planned constraint, from time endTime() to time endTime()+inProlongation.
Reimplemented in ChppGikStepElement, and ChppGikWalkElement.
References attModifiedStart, attPlanSuccess, attPreProlongation, and attStartTime.
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inlinevirtual |
Get a pointer to associated robot.
Implements CjrlGikMotionConstraint.
References ChppGikPrioritizedMotion::attRobot, and footConstraintAtTime().
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inlinevirtual |
Disactivated.
Implements CjrlGikMotionConstraint.
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Get the start time for this jrlGikMotionConstraint.
Implements CjrlGikMotionConstraint.
References attModifiedStart.
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Get the support foot joint at time inTime.
Implemented in ChppGikFootDisplaceElement, ChppGikZMPshiftElement, ChppGikStepElement, and ChppGikWalkElement.
Referenced by ZMPmotion().
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Get the support foot joint at time inTime.
References attZMPmotion, plan(), and supportFootAtTime().
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Referenced by ChppGikLocomotionElement().
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Referenced by ChppGikLocomotionElement(), and duration().
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Referenced by ChppGikLocomotionElement(), and postProlongate().
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Referenced by ChppGikLocomotionElement().
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Referenced by ChppGikLocomotionElement().
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Referenced by ChppGikLocomotionElement(), endTime(), and postProlongate().
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Referenced by ChppGikLocomotionElement(), preProlongate(), and startTime().
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Referenced by ChppGikLocomotionElement(), postProlongate(), and preProlongate().
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Referenced by ChppGikLocomotionElement(), and postProlongate().
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Referenced by ChppGikLocomotionElement(), and preProlongate().
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Referenced by ChppGikLocomotionElement().
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Referenced by ChppGikLocomotionElement().
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Referenced by ChppGikLocomotionElement(), and preProlongate().
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Referenced by ChppGikLocomotionElement().
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Referenced by ChppGikLocomotionElement(), and ZMPmotion().