dynamicgraph::sot::SotJointTrajectoryEntity Class Reference

This object handles trajectory of quantities and publish them as signals. More...

#include <sot/core/joint-trajectory-entity.hh>

Inheritance diagram for dynamicgraph::sot::SotJointTrajectoryEntity:

List of all members.

Public Types

typedef int Dummy

Public Member Functions

 DYNAMIC_GRAPH_ENTITY_DECL ()
 SotJointTrajectoryEntity (const std::string &name)
 Constructor.
virtual ~SotJointTrajectoryEntity ()
void loadFile (const std::string &name)
dg::VectorgetNextPosition (dg::Vector &pos, const int &time)
 Return the next pose for the legs.
dg::VectorgetNextCoM (dg::Vector &com, const int &time)
 Return the next com.
dg::VectorgetNextCoP (dg::Vector &cop, const int &time)
 Return the next cop.
sot::MatrixHomogeneousgetNextWaist (sot::MatrixHomogeneous &waist, const int &time)
 Return the next waist.
unsigned int & getSeqId (unsigned int &seqid, const int &time)
 Return the current seq identified of the current trajectory.
sot::MatrixHomogeneous XYZThetaToMatrixHomogeneous (const dg::Vector &xyztheta)
 Convert a xyztheta vector into an homogeneous matrix.
int & OneStepOfUpdate (int &dummy, const int &time)
 Perform one update of the signals.

Public Attributes

Signals

Internal signal for synchronisation.

dynamicgraph::SignalTimeDependent
< int, int > 
refresherSINTERN
SignalTimeDependent< Dummy, int > OneStepOfUpdateS
 Internal signal to trigger one step of the algorithm.
dynamicgraph::SignalTimeDependent
< dg::Vector, int > 
positionSOUT
 Publish pose for each evaluation of the graph.
dynamicgraph::SignalTimeDependent
< dg::Vector, int > 
comSOUT
 Publish com for each evaluation of the graph.
dynamicgraph::SignalTimeDependent
< dg::Vector, int > 
zmpSOUT
 Publish zmp for each evaluation of the graph.
dynamicgraph::SignalTimeDependent
< sot::MatrixHomogeneous, int > 
waistSOUT
 Publish waist for each evaluation of the graph.
dynamicgraph::SignalTimeDependent
< unsigned int, int > 
seqIdSOUT
 Publish ID of the trajectory currently realized.
dynamicgraph::SignalPtr
< Trajectory, int > 
trajectorySIN
 Read a trajectory.

Protected Member Functions

void UpdatePoint (const JointTrajectoryPoint &aJTP)
 Update the entity with the current point of the trajectory.
void UpdateTrajectory (const Trajectory &aTrajectory)
 Update the entity with the trajectory aTrajectory.
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArs, std::ostream &os)
 Command Line to dynamically modify parameters: initTraj: specify the initial vector of data to send.
void setInitTraj (const std::string &os)
 Implements the parsing and the affectation of initial trajectory.

Protected Attributes

unsigned int index_
 Index on the point along the trajectory.
timestamp traj_timestamp_
 Keep the starting time as an identifier of the trajector.
dg::Vector pose_
 Store the pos;.
dg::Vector com_
 Store the center of mass.
dg::Vector cop_
 Store the center of pressure ZMP.
sot::MatrixHomogeneous waist_
 Store the waist position.
unsigned int seqid_
 Store the current seq identifier.
sot::Trajectory init_traj_
 Initial state of the trajectory.
std::deque< sot::Trajectorydeque_traj_
 Queue of trajectories.

Display

virtual void display (std::ostream &os) const
SOTJOINT_TRAJECTORY_ENTITY_EXPORT
friend std::ostream & 
operator<< (std::ostream &os, const SotJointTrajectoryEntity &r)

Detailed Description

This object handles trajectory of quantities and publish them as signals.


Member Typedef Documentation


Constructor & Destructor Documentation

dynamicgraph::sot::SotJointTrajectoryEntity::SotJointTrajectoryEntity ( const std::string &  name)

Constructor.

virtual dynamicgraph::sot::SotJointTrajectoryEntity::~SotJointTrajectoryEntity ( ) [inline, virtual]

Member Function Documentation

virtual void dynamicgraph::sot::SotJointTrajectoryEntity::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArs,
std::ostream &  os 
) [protected, virtual]

Command Line to dynamically modify parameters: initTraj: specify the initial vector of data to send.

Reimplemented from dynamicgraph::Entity.

virtual void dynamicgraph::sot::SotJointTrajectoryEntity::display ( std::ostream &  os) const [virtual]

Reimplemented from dynamicgraph::Entity.

dynamicgraph::sot::SotJointTrajectoryEntity::DYNAMIC_GRAPH_ENTITY_DECL ( )
dg::Vector& dynamicgraph::sot::SotJointTrajectoryEntity::getNextCoM ( dg::Vector com,
const int &  time 
)

Return the next com.

dg::Vector& dynamicgraph::sot::SotJointTrajectoryEntity::getNextCoP ( dg::Vector cop,
const int &  time 
)

Return the next cop.

dg::Vector& dynamicgraph::sot::SotJointTrajectoryEntity::getNextPosition ( dg::Vector pos,
const int &  time 
)

Return the next pose for the legs.

sot::MatrixHomogeneous& dynamicgraph::sot::SotJointTrajectoryEntity::getNextWaist ( sot::MatrixHomogeneous waist,
const int &  time 
)

Return the next waist.

unsigned int& dynamicgraph::sot::SotJointTrajectoryEntity::getSeqId ( unsigned int &  seqid,
const int &  time 
)

Return the current seq identified of the current trajectory.

void dynamicgraph::sot::SotJointTrajectoryEntity::loadFile ( const std::string &  name)
int& dynamicgraph::sot::SotJointTrajectoryEntity::OneStepOfUpdate ( int &  dummy,
const int &  time 
)

Perform one update of the signals.

void dynamicgraph::sot::SotJointTrajectoryEntity::setInitTraj ( const std::string &  os) [protected]

Implements the parsing and the affectation of initial trajectory.

void dynamicgraph::sot::SotJointTrajectoryEntity::UpdatePoint ( const JointTrajectoryPoint aJTP) [protected]

Update the entity with the current point of the trajectory.

void dynamicgraph::sot::SotJointTrajectoryEntity::UpdateTrajectory ( const Trajectory aTrajectory) [protected]

Update the entity with the trajectory aTrajectory.

sot::MatrixHomogeneous dynamicgraph::sot::SotJointTrajectoryEntity::XYZThetaToMatrixHomogeneous ( const dg::Vector xyztheta)

Convert a xyztheta vector into an homogeneous matrix.


Friends And Related Function Documentation

SOTJOINT_TRAJECTORY_ENTITY_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const SotJointTrajectoryEntity r 
) [friend]

Member Data Documentation

Store the center of mass.

Store the center of pressure ZMP.

Queue of trajectories.

Index on the point along the trajectory.

Initial state of the trajectory.

Internal signal to trigger one step of the algorithm.

Store the current seq identifier.

Publish ID of the trajectory currently realized.

Keep the starting time as an identifier of the trajector.