import"/local/robotpkg/var/tmp/robotpkg/path/hpp-wholebody-step-corba/work/hpp-wholebody-step-corba-4.2.0/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... | |
enum hpp::corbaserver::wholebody_step::Problem::StaticStabilityType |
Type of static stability constraints.
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.
prefix | prefix of the names of the constraint as stored in core::ProblemSolver, |
floatArray | input configuration for computing constraint reference, |
leftAnkle,rightAnkle | names of the ankle joints. |
comName | name of the PartialCOM in the problem solver map. Put "" for a full COM computations. |
type | type 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:
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.
x,y,z | desired position of the end effector (right hand) |
nbConfig | Number of goal configurations to generate. |