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_eps |
Numerical precision. | |
double | m_DSDuration |
constants for the durations in the support phases | |
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
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.
[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.
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.
[in] | Ref | |
[in] | CurrentSupport |
constants for the durations in the support phases
Numerical precision.
unsigned int PatternGeneratorJRL::SupportFSM::m_NbOfStepsSSDS |