Classes
struct	RightHandSideFunctor

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

struct	TimeDependant

class	TimeDependantPath

Typedefs
typedef pinocchio::JointPtr_t	JointPtr_t

typedef core::ConstraintSet	ConstraintSet

typedef core::ConstraintSetPtr_t	ConstraintSetPtr_t

typedef core::ConfigProjector	ConfigProjector

typedef core::ConfigProjectorPtr_t	ConfigProjectorPtr_t

typedef core::DifferentiableFunctionPtr_t	DifferentiableFunctionPtr_t

typedef core::DifferentiableFunction	DifferentiableFunction

typedef constraints::JointFrame	JointFrame

typedef constraints::Traits< constraints::JointFrame >::Ptr_t	JointFramePtr_t

typedef constraints::SymbolicFunction< JointFrame >	JointFrameFunction

typedef constraints::SymbolicFunction< JointFrame >::Ptr_t	JointFrameFunctionPtr_t

typedef constraints::PointInJoint	PointInJoint

typedef constraints::SymbolicFunction< PointInJoint >	PointInJointFunction

typedef constraints::PointCom	PointCom

typedef constraints::SymbolicFunction< PointCom >	PointComFunction

typedef constraints::SymbolicFunction< PointCom >::Ptr_t	PointComFunctionPtr_t

typedef core::Problem	Problem

typedef core::PathOptimizerPtr_t	PathOptimizerPtr_t

typedef core::Path	Path

typedef core::PathPtr_t	PathPtr_t

typedef core::PathVector	PathVector

typedef core::PathVectorPtr_t	PathVectorPtr_t

typedef core::StraightPath	StraightPath

typedef core::StraightPathPtr_t	StraightPathPtr_t

typedef pinocchio::CenterOfMassComputationPtr_t	CenterOfMassComputationPtr_t

typedef pinocchio::DevicePtr_t	DevicePtr_t

typedef pinocchio::HumanoidRobotPtr_t	HumanoidRobotPtr_t

typedef pinocchio::HumanoidRobot	HumanoidRobot

typedef pinocchio::LiegroupElement	LiegroupElement

typedef pinocchio::LiegroupSpace	LiegroupSpace

typedef pinocchio::LiegroupSpacePtr_t	LiegroupSpacePtr_t

typedef core::Configuration_t	Configuration_t

typedef core::ConfigurationIn_t	ConfigurationIn_t

typedef core::ConfigurationOut_t	ConfigurationOut_t

typedef core::Transform3f	Transform3f

typedef core::matrix3_t	matrix3_t

typedef core::vector3_t	vector3_t

typedef core::vector_t	vector_t

typedef core::vectorOut_t	vectorOut_t

typedef core::value_type	value_type

typedef core::size_type	size_type

typedef walkgen::FootPrint	FootPrint

typedef walkgen::SplineBasedPtr_t	SplineBasedPtr_t

typedef walkgen::SplineBased	SplineBased

typedef walkgen::CubicBSplinePtr_t	CubicBSplinePtr_t

typedef boost::shared_ptr< SmallSteps >	SmallStepsPtr_t

typedef boost::shared_ptr< TimeDependantPath >	TimeDependantPathPtr_t

typedef constraints::Implicit	Implicit

typedef constraints::ImplicitPtr_t	ImplicitPtr_t

typedef boost::shared_ptr< const RightHandSideFunctor >	RightHandSideFunctorPtr_t

Functions
	HPP_PREDEF_CLASS (SmallSteps)

	HPP_PREDEF_CLASS (TimeDependantPath)

std::vector< ImplicitPtr_t >	createSlidingStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED
	Create quasi-static stability constraints. More...

std::vector< ImplicitPtr_t >	createSlidingStabilityConstraint (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED
	Create quasi-static stability constraints The center of mass takes into account all the joints of the robot. More...

std::vector< ImplicitPtr_t >	createSlidingStabilityConstraintComplement (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, ConfigurationIn_t configuration)
	Create quasi-static stability complementary constraints. More...

std::vector< ImplicitPtr_t >	createAlignedCOMStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding=true)
	Constraints that ensure that the COM is between the two ankles. More...

std::vector< ImplicitPtr_t >	createStaticStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding)
	Create quasi-static stability constraints. More...

Variables
const std::string	STABILITY_CONTEXT

Typedef Documentation

typedef pinocchio::CenterOfMassComputationPtr_t hpp::wholebodyStep::CenterOfMassComputationPtr_t

typedef core::ConfigProjector hpp::wholebodyStep::ConfigProjector

typedef core::ConfigProjectorPtr_t hpp::wholebodyStep::ConfigProjectorPtr_t

typedef core::Configuration_t hpp::wholebodyStep::Configuration_t

typedef core::ConfigurationIn_t hpp::wholebodyStep::ConfigurationIn_t

typedef core::ConfigurationOut_t hpp::wholebodyStep::ConfigurationOut_t

typedef core::ConstraintSet hpp::wholebodyStep::ConstraintSet

typedef core::ConstraintSetPtr_t hpp::wholebodyStep::ConstraintSetPtr_t

typedef walkgen::CubicBSplinePtr_t hpp::wholebodyStep::CubicBSplinePtr_t

typedef pinocchio::DevicePtr_t hpp::wholebodyStep::DevicePtr_t

typedef core::DifferentiableFunction hpp::wholebodyStep::DifferentiableFunction

typedef core::DifferentiableFunctionPtr_t hpp::wholebodyStep::DifferentiableFunctionPtr_t

typedef walkgen::FootPrint hpp::wholebodyStep::FootPrint

typedef pinocchio::HumanoidRobot hpp::wholebodyStep::HumanoidRobot

typedef pinocchio::HumanoidRobotPtr_t hpp::wholebodyStep::HumanoidRobotPtr_t

typedef constraints::Implicit hpp::wholebodyStep::Implicit

typedef constraints::ImplicitPtr_t hpp::wholebodyStep::ImplicitPtr_t

typedef constraints::JointFrame hpp::wholebodyStep::JointFrame

typedef constraints::SymbolicFunction<JointFrame> hpp::wholebodyStep::JointFrameFunction

typedef constraints::SymbolicFunction<JointFrame>::Ptr_t hpp::wholebodyStep::JointFrameFunctionPtr_t

typedef constraints::Traits<constraints::JointFrame>::Ptr_t hpp::wholebodyStep::JointFramePtr_t

typedef pinocchio::JointPtr_t hpp::wholebodyStep::JointPtr_t

typedef pinocchio::LiegroupElement hpp::wholebodyStep::LiegroupElement

typedef pinocchio::LiegroupSpace hpp::wholebodyStep::LiegroupSpace

typedef pinocchio::LiegroupSpacePtr_t hpp::wholebodyStep::LiegroupSpacePtr_t

typedef core::matrix3_t hpp::wholebodyStep::matrix3_t

typedef core::Path hpp::wholebodyStep::Path

typedef core::PathOptimizerPtr_t hpp::wholebodyStep::PathOptimizerPtr_t

typedef core::PathPtr_t hpp::wholebodyStep::PathPtr_t

typedef core::PathVector hpp::wholebodyStep::PathVector

typedef core::PathVectorPtr_t hpp::wholebodyStep::PathVectorPtr_t

typedef constraints::PointCom hpp::wholebodyStep::PointCom

typedef constraints::SymbolicFunction<PointCom> hpp::wholebodyStep::PointComFunction

typedef constraints::SymbolicFunction<PointCom>::Ptr_t hpp::wholebodyStep::PointComFunctionPtr_t

typedef constraints::PointInJoint hpp::wholebodyStep::PointInJoint

typedef constraints::SymbolicFunction<PointInJoint> hpp::wholebodyStep::PointInJointFunction

typedef core::Problem hpp::wholebodyStep::Problem

typedef boost::shared_ptr<const RightHandSideFunctor> hpp::wholebodyStep::RightHandSideFunctorPtr_t

typedef core::size_type hpp::wholebodyStep::size_type

typedef boost::shared_ptr<SmallSteps> hpp::wholebodyStep::SmallStepsPtr_t

typedef walkgen::SplineBased hpp::wholebodyStep::SplineBased

typedef walkgen::SplineBasedPtr_t hpp::wholebodyStep::SplineBasedPtr_t

typedef core::StraightPath hpp::wholebodyStep::StraightPath

typedef core::StraightPathPtr_t hpp::wholebodyStep::StraightPathPtr_t

typedef boost::shared_ptr<TimeDependantPath> hpp::wholebodyStep::TimeDependantPathPtr_t

typedef core::Transform3f hpp::wholebodyStep::Transform3f

typedef core::value_type hpp::wholebodyStep::value_type

typedef core::vector3_t hpp::wholebodyStep::vector3_t

typedef core::vector_t hpp::wholebodyStep::vector_t

typedef core::vectorOut_t hpp::wholebodyStep::vectorOut_t

Function Documentation

std::vector<ImplicitPtr_t> hpp::wholebodyStep::createAlignedCOMStabilityConstraint	(	const DevicePtr_t &	robot,
		const CenterOfMassComputationPtr_t &	comc,
		const JointPtr_t &	leftAnkle,
		const JointPtr_t &	rightAnkle,
		ConfigurationIn_t	configuration,
		bool	sliding = `true`
	)

Constraints that ensure that the COM is between the two ankles.

Parameters

robot	the robot,
comc	computation of the center of mass (whole robot or subtree)
leftAnkle	left ankle joint,
rightAnkle	right ankle joint,
configuration	the configuration of the robot satisfying the constraint,
sliding	whether the robot can slide on the ground

Create the following set of constraints:

ComBetweenFeet constraints (dimension 3)
orientation of the right foot around x and y (dimension 2) if sliding, dimension 3 otherwise
position of the right foot along z (dimension 1) if sliding dimension 3 otherwise,
orientation of the left foot around x and y (dimension 2) if sliding, dimension 3 otherwise
position of the left foot along z (dimension 1) if sliding, dimension 3 otherwise.

std::vector<ImplicitPtr_t> hpp::wholebodyStep::createSlidingStabilityConstraint	(	const DevicePtr_t &	robot,
		const CenterOfMassComputationPtr_t &	comc,
		const JointPtr_t &	leftAnkle,
		const JointPtr_t &	rightAnkle,
		ConfigurationIn_t	configuration
	)

Create quasi-static stability constraints.

Parameters

robot	the robot,
comc	a hpp::pinocchio::CenterOfMassComputation that handle COM computations.
leftAnkle	left ankle joint,
rightAnkle	right ankle joint,
configuration	the configuration of the robot satisfying the constraint,

The constraints make the feet of the robot slide on a horizontal ground and the center of mass project at a constant position with respect to the feet. Five constraints are returned:

relative position of the center of mass (as defined with comc) in the left ankle frame (dimension 3),
relative orientation of the feet (dimension 3),
relative position of the feet (dimension 3),
orientation of the left foot (dimension 2),
position of the left foot (dimension 1).

All constraints are returned along with the hpp::core::ComparisonType::createDefault()

std::vector<ImplicitPtr_t> hpp::wholebodyStep::createSlidingStabilityConstraint	(	const DevicePtr_t &	robot,
		const JointPtr_t &	leftAnkle,
		const JointPtr_t &	rightAnkle,
		ConfigurationIn_t	configuration
	)

Create quasi-static stability constraints The center of mass takes into account all the joints of the robot.

Parameters

robot,leftAnkle,rightAnkle,configuration see createSlidingStabilityConstraint(const DevicePtr_t&, const JointPtr_t&, const JointPtr_t&, ConfigurationIn_t)

std::vector<ImplicitPtr_t> hpp::wholebodyStep::createSlidingStabilityConstraintComplement	(	const DevicePtr_t &	robot,
		const JointPtr_t &	leftAnkle,
		ConfigurationIn_t	configuration
	)

Create quasi-static stability complementary constraints.

Parameters

robot	the robot,
comc	a hpp::pinocchio::CenterOfMassComputation that handle COM computations.
leftAnkle	left ankle joint,
configuration	the configuration of the robot satisfying the constraint,

Used with the quasi-static stability constraints, the constraints make the feet and the center of mass of the robot at a constant position. Two constraints are returned:

orientation of the left foot (dimension 1),
position of the left foot (dimension 2).

All constraints are returned along with the hpp::core::ComparisonType::createDefault()

std::vector<ImplicitPtr_t> hpp::wholebodyStep::createStaticStabilityConstraint	(	const DevicePtr_t &	robot,
		const CenterOfMassComputationPtr_t &	comc,
		const JointPtr_t &	leftAnkle,
		const JointPtr_t &	rightAnkle,
		ConfigurationIn_t	configuration,
		bool	sliding
	)

Create quasi-static stability constraints.

Parameters

robot	the robot,
comc	computation of the center of mass (whole robot or subtree)
leftAnkle	left ankle joint,
rightAnkle	right ankle joint,
configuration	the configuration of the robot satisfying the constraint,
sliding	whether the robot can slide on the ground

If sliding is true, the constraints make the feet of the robot lie on a horizontal ground and the center of mass project at a constant position with respect to the feet. Five constraints are returned:

relative position of the center of mass (as defined with comc) in the left ankle frame (dimension 3),
relative orientation of the feet (dimension 3),
relative position of the feet (dimension 3),
orientation of the left foot (dimension 2),
position of the left foot (dimension 1).

If sliding is false, 3 constraints are returned

relative position of the center of mass (as defined with comc) in the left ankle frame (dimension 3),
absolute position and orientation of left foot,
absolute position and orientation of right foot.

All constraints are returned along with the hpp::core::ComparisonType::createDefault()

hpp::wholebodyStep::HPP_PREDEF_CLASS ( SmallSteps )

hpp::wholebodyStep::HPP_PREDEF_CLASS ( TimeDependantPath )

Variable Documentation

const std::string hpp::wholebodyStep::STABILITY_CONTEXT

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation