hpp::corbaserver::wholebody_step::Problem Interface Reference

import"/local/robotpkg/var/tmp/robotpkg/path/hpp-wholebody-step-corba/work/hpp-wholebody-step-corba-4.1/idl/hpp/corbaserver/wholebody-step/problem.idl";

Public Types

enum  StaticStabilityType {
  SLIDING,
  SLIDING_ALIGNED_COM,
  FIXED_ON_THE_GROUND,
  FIXED_ALIGNED_COM
}
 Type of static stability constraints. More...
 

Public Member Functions

void addStaticStabilityConstraints (in string prefix, in floatSeq floatArray, in string leftAnkle, in string rightAnkle, in string comName, in StaticStabilityType type) raises (Error)
 Create static stability constraints and store into ProblemSolver. More...
 
void generateGoalConfig (in double x, in double y, in double z, in unsigned short nbConfig) raises (Error)
 Generate a goal configuration. More...
 

Member Enumeration Documentation

◆ StaticStabilityType

enum hpp::corbaserver::wholebody_step::Problem::StaticStabilityType

Type of static stability constraints.

Enumerator
SLIDING 

Corresponds to a robot sliding on the floor, the relative position ot the feet being constant.

It contains five following constraints:

  • prefix + "/relative-com": relative position of the center of mass in the left ankle frame,
  • prefix + "/relative-orientation": relative orientation of the feet,
  • prefix + "/relative-position": relative position of the feet,
  • prefix + "/orientation-left-foot": orientation of the left foot,
  • prefix + "/position-left-foot": position of the left foot.
SLIDING_ALIGNED_COM 

Corresponds to a robot sliding on two feets, the COM between the the feet.

The feet are constrained to stay on the floor, parallel to it. It contains five following constraints:

  • prefix + "/com-between-feet": The COM projection along z lies between the two ankles
  • prefix + "/orientation-right": right foot remains horizontal,
  • prefix + "/position-right": height of the right foot,
  • prefix + "/orientation-left": left foot remains horizontal,
  • prefix + "/position-left": height of the left foot.
FIXED_ON_THE_GROUND 

Same as SLIDING except that the feet are fixed on the ground.

FIXED_ALIGNED_COM 

Same as SLIDING_ALIGNED_COM, except that the feet are fixed on the ground.

Member Function Documentation

◆ addStaticStabilityConstraints()

void hpp::corbaserver::wholebody_step::Problem::addStaticStabilityConstraints ( in string  prefix,
in floatSeq  floatArray,
in string  leftAnkle,
in string  rightAnkle,
in string  comName,
in StaticStabilityType  type 
)
raises (Error
)

Create static stability constraints and store into ProblemSolver.

Parameters
prefixprefix of the names of the constraint as stored in core::ProblemSolver,
floatArrayinput configuration for computing constraint reference,
leftAnkle,rightAnklenames of the ankle joints.
comNamename of the PartialCOM in the problem solver map. Put "" for a full COM computations.
typetype of static stability constraints you wish to create.

The constraints are stored in the core::ProblemSolver constraints map and are accessible through the method core::ProblemSolver::addNumericalConstraint:

◆ generateGoalConfig()

void hpp::corbaserver::wholebody_step::Problem::generateGoalConfig ( in double  x,
in double  y,
in double  z,
in unsigned short  nbConfig 
)
raises (Error
)

Generate a goal configuration.

Parameters
x,y,zdesired position of the end effector (right hand)
nbConfigNumber of goal configurations to generate.