hpp-walkgen  4.9.0
Walk generator for hpp framework
foot-print.hh
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1 //
2 // Copyright (c) 2015 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-walkgen
6 // hpp-walkgen is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-walkgen is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-walkgen If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_WALKGEN_FOOT_PRINT_HH
20 # define HPP_WALKGEN_FOOT_PRINT_HH
21 
22 # include <Eigen/StdVector>
23 
24 # include <hpp/walkgen/config.hh>
25 # include <hpp/walkgen/fwd.hh>
26 
27 namespace hpp {
28  namespace walkgen {
30  struct FootPrint {
31  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
37  FootPrint (const value_type& abs, const value_type& ord,
38  const value_type& cosYaw, const value_type& sinYaw) :
39  position (abs, ord), orientation (cosYaw, sinYaw)
40  {
41  }
44  const value_type& operator[] (size_type index) const
45  {
46  return position [index];
47  }
48  }; // struct FootPrint
49  typedef std::vector <FootPrint, Eigen::aligned_allocator <FootPrint> >
51  } // namespace walkgen
52 } // namespace hpp
53 
54 #endif // HPP_WALKGEN_FOOT_PRINT_HH
vector2_t position
Definition: foot-print.hh:42
Position of a foot on the (horizontal) ground.
Definition: foot-print.hh:30
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:44
matrix_t::Index size_type
Definition: fwd.hh:42
Definition: bspline-based.hh:28
double value_type
Definition: fwd.hh:37
EIGEN_MAKE_ALIGNED_OPERATOR_NEW FootPrint(const value_type &abs, const value_type &ord, const value_type &cosYaw, const value_type &sinYaw)
Definition: foot-print.hh:37
vector2_t orientation
Definition: foot-print.hh:43
std::vector< FootPrint, Eigen::aligned_allocator< FootPrint > > FootPrints_t
Definition: foot-print.hh:50
const value_type & operator[](size_type index) const
Definition: foot-print.hh:44