hpp-wholebody-step
4.12.0
Path planning for humanoid robot by sliding on the groud.
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20 #ifndef HPP_WHOLEBODY_STEP_SMALL_STEPS_HH
21 # define HPP_WHOLEBODY_STEP_SMALL_STEPS_HH
23 # include <hpp/core/path-optimizer.hh>
24 # include <hpp/walkgen/foot-print.hh>
29 namespace wholebodyStep {
75 active (false), optional (false), type (All), abscissa (-1) {}
84 void init (
const SmallStepsWkPtr_t& weak);
89 Times_t buildInitialTimes (
const std::size_t& p);
114 std::vector <value_type> stepParameters_;
116 std::vector <bool> footPrintsIsRight_;
117 SmallStepsWkPtr_t weakPtr_;
121 #endif // HPP_WHOLEBODY_STEP_SMALL_STEPS_HH
HandConstraintType type
Definition: small-steps.hh:71
HandConstraint()
Definition: small-steps.hh:74
@ UntilEnd
Definition: small-steps.hh:65
Definition: small-steps.hh:34
walkgen::Times_t Times_t
Definition: small-steps.hh:38
core::ConstraintSetPtr_t ConstraintSetPtr_t
Definition: fwd.hh:33
core::PathVectorPtr_t PathVectorPtr_t
Definition: fwd.hh:54
bool optional
Definition: small-steps.hh:70
core::value_type value_type
Definition: fwd.hh:76
@ FromStart
Definition: small-steps.hh:64
Compute parameter along initial path with respect to time.
Definition: small-steps.hh:42
HandConstraintType
Definition: small-steps.hh:63
Pairs_t pairs_
Definition: small-steps.hh:50
SmallSteps::TimeToParameterMap_t Pairs_t
Definition: small-steps.hh:44
std::shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:85
walkgen::CubicBSplinePtr_t CubicBSplinePtr_t
Definition: fwd.hh:82
value_type abscissa
Definition: small-steps.hh:72
HandConstraint rightHand_
Definition: small-steps.hh:78
walkgen::SplineBasedPtr_t SplineBasedPtr_t
Definition: fwd.hh:80
core::PathPtr_t PathPtr_t
Definition: fwd.hh:52
#define HPP_WHOLEBODY_STEP_DLLAPI
Definition: config.hh:64
bool active
Definition: small-steps.hh:69
Definition: small-steps.hh:68
core::ProblemConstPtr_t ProblemConstPtr_t
Definition: fwd.hh:48
walkgen::FootPrints_t FootPrints_t
Definition: small-steps.hh:37
pinocchio::HumanoidRobotPtr_t HumanoidRobotPtr_t
Definition: fwd.hh:62
std::map< value_type, value_type > TimeToParameterMap_t
Definition: small-steps.hh:39
walkgen::FootPrint FootPrint
Definition: fwd.hh:79