Static trajectory of a support foot. More...

#include <hpp/walkgen/foot-trajectory.hh>

Inheritance diagram for hpp::walkgen::SupportFoot:

Collaboration diagram for hpp::walkgen::SupportFoot:

Public Member Functions
virtual PathPtr_t	copy () const

virtual PathPtr_t	copy (const ConstraintSetPtr_t &) const

virtual	~SupportFoot () throw ()

Public Member Functions inherited from hpp::core::Path
virtual	~Path ()

boost::shared_ptr< T >	as (void)

boost::shared_ptr< const T >	as (void) const

PathPtr_t	extract (const interval_t &subInterval) const

PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const

virtual PathPtr_t	reverse () const

Configuration_t	operator() (const value_type &time) const HPP_CORE_DEPRECATED

Configuration_t	operator() (const value_type &time, bool &success) const

bool	operator() (ConfigurationOut_t result, const value_type &time) const

Configuration_t	eval (const value_type &time, bool &success) const

bool	eval (ConfigurationOut_t result, const value_type &time) const

bool	at (const value_type &time, ConfigurationOut_t result) const

void	derivative (vectorOut_t result, const value_type &time, size_type order) const

void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const

size_type	outputSize () const

size_type	outputDerivativeSize () const

const interval_t &	timeRange () const

virtual value_type	length () const

const ConstraintSetPtr_t &	constraints () const

const interval_t &	paramRange () const

void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)

virtual	~Path ()

boost::shared_ptr< T >	as (void)

boost::shared_ptr< const T >	as (void) const

PathPtr_t	extract (const interval_t &subInterval) const

PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const

virtual PathPtr_t	reverse () const

Configuration_t	operator() (const value_type &time) const HPP_CORE_DEPRECATED

Configuration_t	operator() (const value_type &time, bool &success) const

bool	operator() (ConfigurationOut_t result, const value_type &time) const

Configuration_t	eval (const value_type &time, bool &success) const

bool	eval (ConfigurationOut_t result, const value_type &time) const

bool	at (const value_type &time, ConfigurationOut_t result) const

void	derivative (vectorOut_t result, const value_type &time, size_type order) const

void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const

size_type	outputSize () const

size_type	outputDerivativeSize () const

const interval_t &	timeRange () const

virtual value_type	length () const

const ConstraintSetPtr_t &	constraints () const

const interval_t &	paramRange () const

void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)

Static Public Member Functions
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW SupportFootPtr_t	create (const FootPrint &position, const value_type &footHeight, const value_type &duration)
	Create a support foot and return shared pointer. More...

Protected Member Functions
	SupportFoot (const FootPrint &position, const value_type &footHeight, const value_type &duration)

	SupportFoot (const SupportFoot &sp)

virtual Configuration_t	initial () const

virtual Configuration_t	end () const

virtual bool	impl_compute (ConfigurationOut_t configuration, value_type t) const

virtual std::ostream &	print (std::ostream &os) const

Protected Member Functions inherited from hpp::core::Path
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)

	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)

	Path (const Path &path)

	Path (const Path &path, const ConstraintSetPtr_t &constraints)

void	init (const PathWkPtr_t &self)

void	constraints (const ConstraintSetPtr_t &constraint)

virtual void	checkPath () const

void	timeRange (const interval_t &timeRange)

const TimeParameterizationPtr_t &	timeParameterization () const

value_type	paramLength () const

Configuration_t	configAtParam (const value_type &param, bool &success) const

virtual void	impl_derivative (vectorOut_t derivative, const value_type &param, size_type order) const

virtual void	impl_velocityBound (vectorOut_t bound, const value_type &param0, const value_type &param1) const

virtual PathPtr_t	impl_extract (const interval_t &paramInterval) const

Additional Inherited Members
Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_

Detailed Description

Static trajectory of a support foot.

This class derives from Path as a trajectory of a rigid body object.

Constructor & Destructor Documentation

virtual hpp::walkgen::SupportFoot::~SupportFoot	(	)
throw	(
	)

inlinevirtual

hpp::walkgen::SupportFoot::SupportFoot	(	const FootPrint &	position,
		const value_type &	footHeight,
		const value_type &	duration
	)

protected

References hpp::walkgen::FootPrint::orientation, and hpp::walkgen::FootPrint::position.

hpp::walkgen::SupportFoot::SupportFoot ( const SupportFoot & sp )

inlineprotected

Member Function Documentation

virtual PathPtr_t hpp::walkgen::SupportFoot::copy ( ) const

inlinevirtual

Implements hpp::core::Path.

virtual PathPtr_t hpp::walkgen::SupportFoot::copy ( const ConstraintSetPtr_t & ) const

inlinevirtual

Implements hpp::core::Path.

SupportFootPtr_t hpp::walkgen::SupportFoot::create	(	const FootPrint &	position,
		const value_type &	footHeight,
		const value_type &	duration
	)

static

Create a support foot and return shared pointer.

Referenced by hpp::walkgen::SplineBased::computeFootTrajectory().

virtual Configuration_t hpp::walkgen::SupportFoot::end ( ) const

inlineprotectedvirtual

Implements hpp::core::Path.

References hpp::walkgen::Step::impl_compute().

bool hpp::walkgen::SupportFoot::impl_compute	(	ConfigurationOut_t	configuration,
		value_type	t
	)		const

protectedvirtual

Implements hpp::core::Path.

virtual Configuration_t hpp::walkgen::SupportFoot::initial ( ) const

inlineprotectedvirtual

Implements hpp::core::Path.

virtual std::ostream& hpp::walkgen::SupportFoot::print ( std::ostream & os ) const

inlineprotectedvirtual

Reimplemented from hpp::core::Path.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation