Generates footsteps.
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#include <sot-pattern-generator/step-computer-force.h>
List of all members.
Public Member Functions |
virtual const std::string & | getClassName (void) const |
| StepComputerForce (const std::string &name) |
void | changeFirstStep (StepQueue &queue, int timeCurr) |
void | nextStep (StepQueue &queue, int timeCurr) |
ml::Vector & | computeDisplacement (ml::Vector &res, int timeCurr) |
ml::Vector & | computeForce (ml::Vector &res, int timeCurr) |
ml::Vector & | computeForceL (ml::Vector &res, int timeCurr) |
ml::Vector & | computeForceR (ml::Vector &res, int timeCurr) |
ml::Vector & | computeHandForce (ml::Vector &res, const MatrixHomogeneous &waMh, const MatrixHomogeneous &waMref, const ml::Vector &F) |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
Public Attributes |
SignalPtr< MatrixHomogeneous, int > | waistMlhandSIN |
SignalPtr< MatrixHomogeneous, int > | waistMrhandSIN |
SignalPtr< MatrixHomogeneous, int > | referencePositionWaistSIN |
SignalPtr< ml::Vector, int > | stiffnessSIN |
SignalPtr< ml::Vector, int > | velocitySIN |
SignalPtr< unsigned, int > | contactFootSIN |
SignalTimeDependent
< ml::Vector, int > | displacementSOUT |
SignalTimeDependent
< ml::Vector, int > | forceSOUT |
SignalTimeDependent
< ml::Vector, int > | forceLhandSOUT |
SignalTimeDependent
< ml::Vector, int > | forceRhandSOUT |
Static Public Attributes |
static const std::string | CLASS_NAME |
Detailed Description
Constructor & Destructor Documentation
dynamicgraph::sot::StepComputerForce::StepComputerForce |
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const std::string & |
name | ) |
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Member Function Documentation
void dynamicgraph::sot::StepComputerForce::changeFirstStep |
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StepQueue & |
queue, |
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int |
timeCurr |
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) |
| [virtual] |
virtual void dynamicgraph::sot::StepComputerForce::commandLine |
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const std::string & |
cmdLine, |
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std::istringstream & |
cmdArgs, |
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std::ostream & |
os |
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) |
| [virtual] |
ml::Vector& dynamicgraph::sot::StepComputerForce::computeDisplacement |
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ml::Vector & |
res, |
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int |
timeCurr |
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) |
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virtual void dynamicgraph::sot::StepComputerForce::display |
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std::ostream & |
os | ) |
const [virtual] |
virtual const std::string& dynamicgraph::sot::StepComputerForce::getClassName |
( |
void |
| ) |
const [inline, virtual] |
void dynamicgraph::sot::StepComputerForce::nextStep |
( |
StepQueue & |
queue, |
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int |
timeCurr |
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) |
| [virtual] |
Member Data Documentation