hpp.corbaserver.robot.StaticStabilityConstraintsFactory Class Reference

This class provides tools to create static stability constraints. More...

Inheritance diagram for hpp.corbaserver.robot.StaticStabilityConstraintsFactory:

Public Member Functions
def	createSlidingStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0)
	Create static stability constraints where the robot slides on the ground, and store them into ProblemSolver. More...
def	createStaticStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0)
	Create static stability constraints where the feet are fixed on the ground, and store them into ProblemSolver. More...
def	createAlignedCOMStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0, sliding)
	Create static stability constraints where the COM is vertically projected on the line between the two ankles, and the feet slide (or are fixed) on the ground. More...

Detailed Description

This class provides tools to create static stability constraints.

Member Function Documentation

def hpp.corbaserver.robot.StaticStabilityConstraintsFactory.createAlignedCOMStabilityConstraint	(		self,
			prefix,
			comName,
			leftAnkle,
			rightAnkle,
			q0,
			sliding
	)

Create static stability constraints where the COM is vertically projected on the line between the two ankles, and the feet slide (or are fixed) on the ground.

The constraints are stored into ProblemSolver

Parameters

prefix	prefix of the names of the constraint as stored in core::ProblemSolver,
comName	name of the PartialCOM in the problem solver map. Put "" for a full COM computations.
leftAnkle,rightAnkle	names of the ankle joints.
q0	input configuration for computing constraint reference,
sliding	whether the feet slide or are fixed.

Returns

a list of the names of the created constraints

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

References hpp.corbaserver.robot.StaticStabilityConstraintsFactory._getCOM().

def hpp.corbaserver.robot.StaticStabilityConstraintsFactory.createSlidingStabilityConstraint	(		self,
			prefix,
			comName,
			leftAnkle,
			rightAnkle,
			q0
	)

Create static stability constraints where the robot slides on the ground, and store them into ProblemSolver.

Parameters

prefix	prefix of the names of the constraint as stored in core::ProblemSolver,
comName	name of the PartialCOM in the problem solver map. Put "" for a full COM computations.
leftAnkle,rightAnkle	names of the ankle joints.
q0	input configuration for computing constraint reference,

Returns

a list of the names of the created constraints

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

References hpp.corbaserver.robot.StaticStabilityConstraintsFactory._getCOM(), hpp::corbaServer::impl::Robot.setCurrentConfig(), hpp.corbaserver.robot.Robot.setCurrentConfig(), and hpp::corbaserver::Robot.setCurrentConfig().

def hpp.corbaserver.robot.StaticStabilityConstraintsFactory.createStaticStabilityConstraint	(		self,
			prefix,
			comName,
			leftAnkle,
			rightAnkle,
			q0
	)

Create static stability constraints where the feet are fixed on the ground, and store them into ProblemSolver.

Parameters

prefix	prefix of the names of the constraint as stored in core::ProblemSolver,
comName	name of the PartialCOM in the problem solver map. Put "" for a full COM computations.
leftAnkle,rightAnkle	names of the ankle joints.
q0	input configuration for computing constraint reference,

Returns

a list of the names of the created constraints

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

References hpp.corbaserver.robot.StaticStabilityConstraintsFactory._getCOM(), hpp::corbaServer::impl::Robot.setCurrentConfig(), hpp.corbaserver.robot.Robot.setCurrentConfig(), and hpp::corbaserver::Robot.setCurrentConfig().