hpp-walkgen
4.11.0
Walk generator for hpp framework
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19 #ifndef HPP_WALKGEN_FOOT_TRAJECTORY_HH
20 # define HPP_WALKGEN_FOOT_TRAJECTORY_HH
23 # include <hpp/core/path.hh>
36 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 throw std::logic_error (
"Providing constraints to foot trajectory is "
60 h0_ (step.h0_), h1_ (step.h1_), h2_ (step.h2_), h3_ (step.h3_),
61 v0_ (step.v0_), v1_ (step.v1_), v2_ (step.v2_), v3_ (step.v3_),
62 initialOrientation_ (step.initialOrientation_), angle_ (step.angle_),
63 omega0_ (step.omega0_), omega1_ (step.omega1_), omega2_ (step.omega2_),
64 omega3_ (step.omega3_), initial_ (step.initial_), final_ (step.final_)
82 virtual std::ostream&
print (std::ostream &os)
const
84 os <<
"Step between:" << std::endl;
85 os <<
" (" << h0_.transpose () <<
") with orientation "
86 << atan2 (initialOrientation_ [1], initialOrientation_ [0])
88 os <<
"and" << std::endl;
89 os <<
" (" << (h0_+h1_+h2_+h3_).transpose () <<
") with orientation "
90 << atan2 (initialOrientation_ [1], initialOrientation_ [0]) + angle_
92 os <<
" with height " << v0_+v1_+v2_+v3_ << std::endl;
108 value_type omega0_, omega1_, omega2_, omega3_;
121 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
134 throw std::logic_error (
"Providing constraints to foot trajectory is "
142 h0_ (sp.h0_), v0_ (sp.v0_),
143 orientation_ (sp.orientation_),
144 configuration_ (sp.configuration_)
149 return configuration_;
154 return configuration_;
159 virtual std::ostream&
print (std::ostream &os)
const
161 os <<
"Support foot:" << std::endl;
162 os <<
" (" << h0_.transpose () <<
") with orientation "
163 << atan2 (orientation_ [1], orientation_ [0]) << std::endl;
179 #endif // HPP_WALKGEN_FOOT_TRAJECTORY_HH
Step(const FootPrint &start, const FootPrint &end, const value_type &stepLow, const value_type &stepHigh, const value_type &duration)
Definition: foot-trajectory.cc:87
core::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:52
core::Configuration_t Configuration_t
Definition: fwd.hh:53
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:44
virtual PathPtr_t copy() const
Definition: foot-trajectory.hh:42
virtual ~Step()
Definition: foot-trajectory.hh:53
double value_type
Definition: fwd.hh:37
Step(const Step &step)
Definition: foot-trajectory.hh:59
virtual Configuration_t end() const
Definition: foot-trajectory.hh:74
DevicePtr_t createFootDevice()
Definition: foot-trajectory.cc:40
core::PathPtr_t PathPtr_t
Definition: fwd.hh:49
Definition: bspline-based.hh:28
virtual PathPtr_t copy(const ConstraintSetPtr_t &) const
Definition: foot-trajectory.hh:47
core::DevicePtr_t DevicePtr_t
Definition: fwd.hh:55
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW StepPtr_t create(const FootPrint &start, const FootPrint &end, const value_type &stepLow, const value_type &stepHigh, const value_type &duration)
Create a step and return a shared pointer.
Definition: foot-trajectory.cc:79
std::shared_ptr< SupportFoot > SupportFootPtr_t
Definition: fwd.hh:36
virtual std::ostream & print(std::ostream &os) const
Definition: foot-trajectory.hh:82
virtual bool impl_compute(ConfigurationOut_t configuration, value_type t) const
Definition: foot-trajectory.cc:108
core::Path Path
Definition: fwd.hh:48
std::shared_ptr< Step > StepPtr_t
Definition: fwd.hh:34
core::ConstraintSetPtr_t ConstraintSetPtr_t
Definition: fwd.hh:54
virtual Configuration_t initial() const
Definition: foot-trajectory.hh:69
Definition: foot-trajectory.hh:33