hpp-wholebody-step
4.11.0
Path planning for humanoid robot by sliding on the groud.
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#include <hpp/wholebody-step/small-steps.hh>
Classes | |
struct | HandConstraint |
struct | PiecewiseAffine |
Compute parameter along initial path with respect to time. More... | |
Public Types | |
enum | HandConstraintType { FromStart, UntilEnd, All } |
typedef walkgen::FootPrints_t | FootPrints_t |
typedef walkgen::Times_t | Times_t |
typedef std::map< value_type, value_type > | TimeToParameterMap_t |
Public Member Functions | |
virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path) |
Call implementation of delegate path planner. More... | |
Static Public Member Functions | |
static SmallStepsPtr_t | create (const ProblemConstPtr_t &problem) |
Public Attributes | |
HandConstraint | leftHand_ |
HandConstraint | rightHand_ |
Protected Member Functions | |
SmallSteps (const ProblemConstPtr_t &problem) | |
Constructor with roadmap. More... | |
void | init (const SmallStepsWkPtr_t &weak) |
Store weak pointer to itself. More... | |
Plan a sliding path for a humanoid robot and generate a walk motion along this path.
typedef walkgen::FootPrints_t hpp::wholebodyStep::SmallSteps::FootPrints_t |
typedef walkgen::Times_t hpp::wholebodyStep::SmallSteps::Times_t |
typedef std::map<value_type, value_type> hpp::wholebodyStep::SmallSteps::TimeToParameterMap_t |
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protected |
Constructor with roadmap.
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static |
Create instance and return shared pointer
problem | problem to solve, |
delegate | path planner that will solve the initial path planning problem for the sliding robot. |
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protected |
Store weak pointer to itself.
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virtual |
Call implementation of delegate path planner.
HandConstraint hpp::wholebodyStep::SmallSteps::leftHand_ |
HandConstraint hpp::wholebodyStep::SmallSteps::rightHand_ |