Static trajectory of a support 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 | ~SupportFoot () throw () |
Static Public Member Functions | |
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW SupportFootPtr_t | create (const FootPrint &position, const value_type &footHeight, const value_type &duration) |
Create a support foot and return shared pointer. More... | |
Protected Member Functions | |
SupportFoot (const FootPrint &position, const value_type &footHeight, const value_type &duration) | |
SupportFoot (const SupportFoot &sp) | |
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 |
Static trajectory of a support foot.
This class derives from Path as a trajectory of a rigid body object.
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References hpp::walkgen::FootPrint::orientation, and hpp::walkgen::FootPrint::position.
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Create a support foot and return shared pointer.
Referenced by hpp::walkgen::SplineBased::computeFootTrajectory().
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References hpp::walkgen::Step::impl_compute().
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