hpp::wholebodyStep::SmallSteps Class Reference

Plan a sliding path for a humanoid robot and generate a walk motion along this path. More...

#include <hpp/wholebody-step/small-steps.hh>

Inheritance diagram for hpp::wholebodyStep::SmallSteps:

Collaboration diagram for hpp::wholebodyStep::SmallSteps:

Classes
struct	HandConstraint
struct	PiecewiseAffine
	Compute parameter along initial path with respect to time. More...

Public Types
enum	HandConstraintType {   FromStart,   UntilEnd,   All }
typedef walkgen::FootPrints_t	FootPrints_t
typedef walkgen::Times_t	Times_t
typedef std::map< value_type, value_type >	TimeToParameterMap_t

Public Member Functions
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
	Call implementation of delegate path planner. More...
Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()
const Problem &	problem () const
void	interrupt ()

Static Public Member Functions
static SmallStepsPtr_t	create (const Problem &problem)
	Create instance and return shared pointer. More...

Public Attributes
HandConstraint	leftHand_
HandConstraint	rightHand_

Protected Member Functions
	SmallSteps (const Problem &problem)
	Constructor with roadmap. More...
void	init (const SmallStepsWkPtr_t &weak)
	Store weak pointer to itself. More...
Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const Problem &problem)
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Additional Inherited Members
Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_

Detailed Description

Plan a sliding path for a humanoid robot and generate a walk motion along this path.

Note

quasi-static sliding constraints should be inserted in the problem

Member Typedef Documentation

typedef walkgen::FootPrints_t hpp::wholebodyStep::SmallSteps::FootPrints_t

typedef walkgen::Times_t hpp::wholebodyStep::SmallSteps::Times_t

typedef std::map<value_type, value_type> hpp::wholebodyStep::SmallSteps::TimeToParameterMap_t

Member Enumeration Documentation

enum hpp::wholebodyStep::SmallSteps::HandConstraintType

Enumerator
FromStart
UntilEnd
All

Constructor & Destructor Documentation

hpp::wholebodyStep::SmallSteps::SmallSteps ( const Problem &  problem )

protected

Constructor with roadmap.

Member Function Documentation

static SmallStepsPtr_t hpp::wholebodyStep::SmallSteps::create ( const Problem &  problem )

static

Create instance and return shared pointer.

Parameters

problem	problem to solve,
delegate	path planner that will solve the initial path planning problem for the sliding robot.

Note

the roadmap of this planner and of the delegate are the same.

void hpp::wholebodyStep::SmallSteps::init ( const SmallStepsWkPtr_t &  weak )

protected

Store weak pointer to itself.

virtual PathVectorPtr_t hpp::wholebodyStep::SmallSteps::optimize ( const PathVectorPtr_t &  path )

virtual

Call implementation of delegate path planner.

Implements hpp::core::PathOptimizer.

Member Data Documentation

HandConstraint hpp::wholebodyStep::SmallSteps::leftHand_

HandConstraint hpp::wholebodyStep::SmallSteps::rightHand_