Typedefs | |
typedef model::JointPtr_t | JointPtr_t |
typedef core::ConfigProjectorPtr_t | ConfigProjectorPtr_t |
typedef core::ConfigProjector | ConfigProjector |
typedef model::Configuration_t | Configuration_t |
typedef model::ConfigurationIn_t | ConfigurationIn_t |
typedef model::ConfigurationOut_t | ConfigurationOut_t |
typedef model::DevicePtr_t | DevicePtr_t |
typedef core::NumericalConstraintPtr_t | NumericalConstraintPtr_t |
typedef model::HumanoidRobotPtr_t | HumanoidRobotPtr_t |
typedef core::value_type | value_type |
typedef core::size_type | size_type |
typedef core::CenterOfMassComputationPtr_t | CenterOfMassComputationPtr_t |
typedef model::Transform3f | Transform3f |
typedef model::matrix3_t | matrix3_t |
typedef model::vector3_t | vector3_t |
typedef model::vector_t | vector_t |
Functions | |
std::vector< NumericalConstraintPtr_t > | createSlidingStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) |
Create quasi-static stability constraints. More... | |
std::vector< NumericalConstraintPtr_t > | createSlidingStabilityConstraint (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) |
Create quasi-static stability constraints The center of mass takes into account all the joints of the robot. More... | |
std::vector< NumericalConstraintPtr_t > | createAlignedCOMStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) |
Constraints that ensure that the COM is between the two ankles. More... | |
typedef model::Configuration_t hpp::wholebodyStep::Configuration_t |
typedef model::ConfigurationIn_t hpp::wholebodyStep::ConfigurationIn_t |
typedef model::ConfigurationOut_t hpp::wholebodyStep::ConfigurationOut_t |
typedef model::DevicePtr_t hpp::wholebodyStep::DevicePtr_t |
typedef model::HumanoidRobotPtr_t hpp::wholebodyStep::HumanoidRobotPtr_t |
typedef model::JointPtr_t hpp::wholebodyStep::JointPtr_t |
typedef model::matrix3_t hpp::wholebodyStep::matrix3_t |
typedef model::Transform3f hpp::wholebodyStep::Transform3f |
typedef model::vector3_t hpp::wholebodyStep::vector3_t |
typedef model::vector_t hpp::wholebodyStep::vector_t |
std::vector< NumericalConstraintPtr_t > hpp::wholebodyStep::createAlignedCOMStabilityConstraint | ( | const DevicePtr_t & | robot, |
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | leftAnkle, | ||
const JointPtr_t & | rightAnkle, | ||
ConfigurationIn_t | configuration | ||
) |
Constraints that ensure that the COM is between the two ankles.
robot | the robot, |
comc | a hpp::model::CenterOfMassComputation that handle COM computations. |
leftAnkle | left ankle joint, |
rightAnkle | right ankle joint, |
configuration | the configuration of the robot satisfying the constraint, |
Create a the following set of constraints:
References hpp::core::NumericalConstraint::create(), create(), hpp::core::ComparisonTypes::create(), hpp::core::ComparisonType::EqualToZero, hpp::core::ComparisonType::Inferior, and hpp::core::ComparisonType::Superior.
Referenced by createSlidingStabilityConstraint().
std::vector< NumericalConstraintPtr_t > hpp::wholebodyStep::createSlidingStabilityConstraint | ( | const DevicePtr_t & | robot, |
const CenterOfMassComputationPtr_t & | comc, | ||
const JointPtr_t & | leftAnkle, | ||
const JointPtr_t & | rightAnkle, | ||
ConfigurationIn_t | configuration | ||
) |
Create quasi-static stability constraints.
robot | the robot, |
comc | a hpp::model::CenterOfMassComputation that handle COM computations. |
leftAnkle | left ankle joint, |
rightAnkle | right ankle joint, |
configuration | the configuration of the robot satisfying the constraint, |
The constraints make the feet of the robot slide on a horizontal ground and the center of mass project at a constant position with respect to the feet. Five constraints are returned:
All constraints are returned along with the hpp::core::ComparisonType::createDefault()
References hpp::core::NumericalConstraint::create(), create(), and createAlignedCOMStabilityConstraint().
Referenced by createSlidingStabilityConstraint().
std::vector< NumericalConstraintPtr_t > hpp::wholebodyStep::createSlidingStabilityConstraint | ( | const DevicePtr_t & | robot, |
const JointPtr_t & | leftAnkle, | ||
const JointPtr_t & | rightAnkle, | ||
ConfigurationIn_t | configuration | ||
) |
Create quasi-static stability constraints The center of mass takes into account all the joints of the robot.
robot,leftAnkle,rightAnkle,configuration | see createSlidingStabilityConstraint(const DevicePtr_t&, const JointPtr_t&, const JointPtr_t&, ConfigurationIn_t) |
References create(), and createSlidingStabilityConstraint().