PatternGeneratorJRL::SupportFSM Class Reference

Finite state machine to determine the support parameters. More...

#include <PreviewControl/SupportFSM_backup.hh>

List of all members.

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_eps
 Numerical precision.
double m_DSDuration
 constants for the durations in the support phases
double m_SSPeriod
double m_DSSSDuration
unsigned int m_NbOfStepsSSDS

Detailed Description

Finite state machine to determine the support parameters.


Constructor & Destructor Documentation

SupportFSM::SupportFSM ( )

Constructor.

SupportFSM::~SupportFSM ( )

Destructor.

PatternGeneratorJRL::SupportFSM::SupportFSM ( const double &  SamplingPeriod)

Constructor

PatternGeneratorJRL::SupportFSM::~SupportFSM ( )

Destructor


Member Function Documentation

double PatternGeneratorJRL::SupportFSM::DSPeriod ( ) const [inline]
void PatternGeneratorJRL::SupportFSM::DSPeriod ( const double  DSPeriod) [inline]

References DSPeriod().

Referenced by DSPeriod().

double PatternGeneratorJRL::SupportFSM::DSSSPeriod ( ) const [inline]
void PatternGeneratorJRL::SupportFSM::DSSSPeriod ( const double  DSSSPeriod) [inline]

References DSSSPeriod().

Referenced by DSSSPeriod().

unsigned PatternGeneratorJRL::SupportFSM::NBStepsSSDS ( ) const [inline]
void PatternGeneratorJRL::SupportFSM::NbStepsSSDS ( const unsigned  NbStepsSSDS) [inline]

References NbStepsSSDS().

Referenced by NbStepsSSDS().

double PatternGeneratorJRL::SupportFSM::SamplingPeriod ( ) const [inline]
double PreviewControl::SamplingPeriod ( const double  T) [inline]
void SupportFSM::set_support_state ( double  time,
unsigned int  pi,
support_state_t &  Support,
const reference_t &  Ref 
) const

Initialize the previewed state.

Parameters:
[in]timeCurrent time
[in]piNumber of (p)reviewed sampling (i)nstant inside the preview period
[out]SupportSupport state to be actualized
[in]RefTrajectory reference
void PatternGeneratorJRL::SupportFSM::setSupportState ( const double &  Time,
const int &  pi,
SupportState_t &  Support,
const ReferenceAbsoluteVelocity RefVel 
)

Initialize the previewed state.

double PatternGeneratorJRL::SupportFSM::StepPeriod ( ) const [inline]
void PatternGeneratorJRL::SupportFSM::StepPeriod ( const double  StepPeriod) [inline]

References StepPeriod().

Referenced by StepPeriod().

void SupportFSM::update_vel_reference ( reference_t &  Ref,
const support_state_t &  CurrentSupport 
)

Update the velocity reference after a pure rotation.

Parameters:
[in]Ref
[in]CurrentSupport

Member Data Documentation

constants for the durations in the support phases

Numerical precision.