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

import "/local/jmirabel/devel/hpp/src/hpp-wholebody-step-corba/idl/hpp/corbaserver/wholebody-step/problem.idl";

List of all members.

Public Member Functions
void	addStaticStabilityConstraints (in string prefix, in dofSeq dofArray, in string leftAnkle, in string rightAnkle, in string comName) raises (Error)
	Create static stability constraints and store into ProblemSolver.
void	addStabilityConstraints (in string prefix, in dofSeq dofArray, in string leftAnkle, in string rightAnkle, in string comName) raises (Error)
	Create constraints that ensure that the COM is between the two ankles and store into ProblemSolver.
void	generateGoalConfig (in double x, in double y, in double z, in unsigned short nbConfig) raises (Error)
	Generate a goal configuration.

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Member Function Documentation

void hpp::corbaserver::wholebody_step::Problem::addStabilityConstraints	(	in string	prefix,
		in dofSeq	dofArray,
		in string	leftAnkle,
		in string	rightAnkle,
		in string	comName
	)		raises (Error)

Create constraints that ensure that the COM is between the two ankles and store into ProblemSolver.

Parameters:

prefix	prefix of the names of the constraint as stored in core::ProblemSolver,
dofArray	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.

Five constraints are created and store with the following keys by calling method core::ProblemSolver::addNumericalConstraint:

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

void hpp::corbaserver::wholebody_step::Problem::addStaticStabilityConstraints	(	in string	prefix,
		in dofSeq	dofArray,
		in string	leftAnkle,
		in string	rightAnkle,
		in string	comName
	)		raises (Error)

Create static stability constraints and store into ProblemSolver.

Parameters:

prefix	prefix of the names of the constraint as stored in core::ProblemSolver,
dofArray	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.

Five constraints are created and store with the following keys by calling method core::ProblemSolver::addNumericalConstraint:

• 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.

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,z,:	desired position of the end effector (right hand)
nbConfig	Number of goal configurations to generate.