A step as a trajectory of a flying foot. More...
#include <hpp/walkgen/foot-trajectory.hh>
Public Member Functions | |
virtual PathPtr_t | copy () const |
virtual PathPtr_t | copy (const ConstraintSetPtr_t &) const |
virtual | ~Step () throw () |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW StepPtr_t | create (const FootPrint &start, const FootPrint &end, const value_type &stepLow, const value_type &stepHigh, const value_type &duration) |
Create a step and return a shared pointer. More... | |
Protected Member Functions | |
Step (const FootPrint &start, const FootPrint &end, const value_type &stepLow, const value_type &stepHigh, const value_type &duration) | |
Step (const Step &step) | |
virtual Configuration_t | initial () const |
virtual Configuration_t | end () const |
virtual bool | impl_compute (ConfigurationOut_t configuration, value_type t) const |
virtual std::ostream & | print (std::ostream &os) const |
A step as a trajectory of a flying foot.
This class derives from Path as a trajectory of a rigid body object.
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inlinevirtual |
References Step().
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protected |
References hpp::walkgen::FootPrint::orientation, and hpp::walkgen::FootPrint::position.
Referenced by ~Step().
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inlineprotected |
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inlinevirtual |
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inlinevirtual |
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static |
Create a step and return a shared pointer.
Referenced by hpp::walkgen::SplineBased::computeFootTrajectory().
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inlineprotectedvirtual |
References impl_compute().
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protectedvirtual |
Referenced by end(), and hpp::walkgen::SupportFoot::end().
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inlineprotectedvirtual |
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inlineprotectedvirtual |