This is a task to make the robot step back to have his feet parallel and symmetrical. More...
#include <hpp/gik/task/step-back-task.hh>
Public Member Functions | |
ChppGikStepBackTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod) | |
constructor More... | |
void | automaticFoot (bool mode=true, bool footIsRight=true) |
Manual mode. More... | |
double | targetFeetDistance () |
get the target feet fistance between the feet More... | |
void | targetFeetDistance (double inFeetDistance) |
Set the target distance between the feet. More... | |
void | bringBackZMP (bool inChoice, double inStartTime, double inDuration) |
Option to bring back the ZMP before any other motion (Disabled by default). More... | |
~ChppGikStepBackTask () | |
Destructor. More... | |
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ChppGikRobotTask (ChppGikStandingRobot *inStandingRobot, double inSamplingPeriod, const char *inTaskName) | |
Constructor. More... | |
bool | solve () |
Solve for joint motion. More... | |
void | showResolutionTime (bool inSwitch) |
show the resolution time More... | |
ChppRobotMotion & | solutionMotion () const |
Get the computed solution motion. More... | |
virtual | ~ChppGikRobotTask () |
destructor More... | |
Protected Member Functions | |
virtual bool | algorithmSolve () |
Solve for joint motion. More... | |
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void | cleanUp () |
Delete objects created in this instance. More... | |
void | backupRobot () |
Backup current robot configuration (q, dot q, ddot q) More... | |
void | restoreRobot () |
Restore saved robot configuration (q, dot q, ddot q) and compute forward kinematics. More... | |
void | cropMotion (ChppGikRobotTask *inRobotTask) |
concatanate a task solution motion to the current attSolutionMotion and apply the last solution configuration to the robot. More... | |
Additional Inherited Members | |
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ChppGikStandingRobot * | attStandingRobot |
Associated robot. More... | |
double | attSamplingPeriod |
Motion sampling period and its half. More... | |
double | attEps |
double | attStartTime |
Start time. More... | |
bool | attShowTime |
option to show resolution time More... | |
ChppRobotMotion * | attSolutionMotion |
The solution joint motion. More... | |
std::string | attTaskName |
This task's name. More... | |
CjrlRobotConfiguration | attInitialConfiguration |
Backup of robot configuration before task solving {. More... | |
struct timeval * | Tps |
timimg {@ More... | |
struct timeval * | Tpf |
struct timezone * | Tzp |
This is a task to make the robot step back to have his feet parallel and symmetrical.
ChppGikStepBackTask::ChppGikStepBackTask | ( | ChppGikStandingRobot * | inStandingRobot, |
double | inSamplingPeriod | ||
) |
constructor
ChppGikStepBackTask::~ChppGikStepBackTask | ( | ) |
Destructor.
Referenced by bringBackZMP().
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protectedvirtual |
Solve for joint motion.
If the feet are already at target position, this method returns true but the solution motion is empty.
Implements ChppGikRobotTask.
Referenced by bringBackZMP().
void ChppGikStepBackTask::automaticFoot | ( | bool | mode = true , |
bool | footIsRight = true |
||
) |
Manual mode.
|
inlinevirtual |
Option to bring back the ZMP before any other motion (Disabled by default).
A motion is planned to bring back the ZMP to the closest point on the line segment defining the center of the safe zone. The start time and the duration of this ZMP motion is left up to the user. The start time is defined relatively to the start of the locomotion plan. Example: bringBackZmp(-0.5, 2.0 ) will make the zmp planning start 0.5 seconds before the first locomotion element (if none, absolute time 0.0s), and take 2.0 seconds to finish. USE AT YOUR OWN RISK
Implements ChppGikRobotTask.
References algorithmSolve(), ChppGikGenericTask::bringBackZMP(), and ~ChppGikStepBackTask().
double ChppGikStepBackTask::targetFeetDistance | ( | ) |
get the target feet fistance between the feet
void ChppGikStepBackTask::targetFeetDistance | ( | double | inFeetDistance | ) |
Set the target distance between the feet.