Finite state machine to determine the support parameters. More...
#include <PreviewControl/SupportFSM_backup.hh>
Public Member Functions | |
| SupportFSM () | |
| Constructor. | |
| ~SupportFSM () | |
| Destructor. | |
| void | update_vel_reference (reference_t &Ref, const support_state_t &CurrentSupport) |
| Update the velocity reference after a pure rotation. | |
| void | set_support_state (double time, unsigned int pi, support_state_t &Support, const reference_t &Ref) const |
| Initialize the previewed state. | |
| SupportFSM (const double &SamplingPeriod) | |
| ~SupportFSM () | |
| void | setSupportState (const double &Time, const int &pi, SupportState_t &Support, const ReferenceAbsoluteVelocity &RefVel) |
| Initialize the previewed state. | |
Accessors | |
| double | StepPeriod () const |
| void | StepPeriod (const double StepPeriod) |
| double | DSPeriod () const |
| void | DSPeriod (const double DSPeriod) |
| double | DSSSPeriod () const |
| void | DSSSPeriod (const double DSSSPeriod) |
| unsigned | NBStepsSSDS () const |
| void | NbStepsSSDS (const unsigned NbStepsSSDS) |
| double | SamplingPeriod () const |
| void | SamplingPeriod (const double T) |
Public Attributes | |
| double | m_DSDuration |
| Numerical precision */ double m_eps;. | |
| double | m_SSPeriod |
| double | m_DSSSDuration |
| unsigned int | m_NbOfStepsSSDS |
Finite state machine to determine the support parameters.
| SupportFSM::SupportFSM | ( | ) |
Constructor.
| SupportFSM::~SupportFSM | ( | ) |
Destructor.
| PatternGeneratorJRL::SupportFSM::SupportFSM | ( | const double & | SamplingPeriod | ) |
Constructor
| PatternGeneratorJRL::SupportFSM::~SupportFSM | ( | ) |
Destructor
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Referenced by DSPeriod().
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References DSPeriod().
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Referenced by DSSSPeriod().
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References DSSSPeriod().
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References NbStepsSSDS().
Referenced by NbStepsSSDS().
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| void SupportFSM::set_support_state | ( | double | time, |
| unsigned int | pi, | ||
| support_state_t & | Support, | ||
| const reference_t & | Ref | ||
| ) | const |
Initialize the previewed state.
| [in] | time | Current time |
| [in] | pi | Number of (p)reviewed sampling (i)nstant inside the preview period |
| [out] | Support | Support state to be actualized |
| [in] | Ref | Trajectory reference |
| void PatternGeneratorJRL::SupportFSM::setSupportState | ( | const double & | Time, |
| const int & | pi, | ||
| SupportState_t & | Support, | ||
| const ReferenceAbsoluteVelocity & | RefVel | ||
| ) |
Initialize the previewed state.
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Referenced by StepPeriod().
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References StepPeriod().
| void SupportFSM::update_vel_reference | ( | reference_t & | Ref, |
| const support_state_t & | CurrentSupport | ||
| ) |
Update the velocity reference after a pure rotation.
| [in] | Ref | |
| [in] | CurrentSupport |
| double PatternGeneratorJRL::SupportFSM::m_DSDuration |
Numerical precision */ double m_eps;.
/*! constants for the durations in the support phases
| double PatternGeneratorJRL::SupportFSM::m_DSSSDuration |
| unsigned int PatternGeneratorJRL::SupportFSM::m_NbOfStepsSSDS |
| double PatternGeneratorJRL::SupportFSM::m_SSPeriod |