dynamicgraph::sot::WhichFootUpper Class Reference

#include <sot-pattern-generator/which-foot-upper.h>

Inheritance diagram for dynamicgraph::sot::WhichFootUpper:
Collaboration diagram for dynamicgraph::sot::WhichFootUpper:

List of all members.

Public Member Functions

 DYNAMIC_GRAPH_ENTITY_DECL ()
 WhichFootUpper (const std::string &name)
virtual ~WhichFootUpper (void)
MatrixRotationcomputeRotationMatrix (MatrixRotation &rotMat, int time)
unsigned int & whichFoot (const MatrixHomogeneous &waistMlfoot, const MatrixHomogeneous &waistMrfoot, unsigned int &res)
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)

Static Public Member Functions

static MatrixHomogeneouscomputeFootPosition (const MatrixHomogeneous &waistMfoot, const MatrixRotation &waistRsensor, const MatrixRotation &worldRsensor, MatrixHomogeneous &res)

Public Attributes

SignalPtr< MatrixRotation, int > waistRsensorSIN
SignalPtr< MatrixRotation, int > worldRsensorSIN
SignalPtr< MatrixHomogeneous, int > waistMlfootSIN
SignalPtr< MatrixHomogeneous, int > waistMrfootSIN
SignalTimeDependent
< MatrixHomogeneous, int > 
worldMlfootSOUT
SignalTimeDependent
< MatrixHomogeneous, int > 
worldMrfootSOUT
SignalTimeDependent< unsigned
int, int > 
whichFootSOUT
SignalPtr< MatrixHomogeneous, int > waistMsensorSIN
SignalTimeDependent
< MatrixRotation, int > 
waistRsensorSOUT

Protected Attributes

unsigned int indexLeftFoot
unsigned int indexRightFoot
double triggerThreshold
unsigned int lastFoot

Static Protected Attributes

static const unsigned int INDEX_LEFT_FOOT_DEFAULT
static const unsigned int INDEX_RIGHT_FOOT_DEFAULT
static const double TRIGGER_THRESHOLD_DEFAULT

Constructor & Destructor Documentation

dynamicgraph::sot::WhichFootUpper::WhichFootUpper ( const std::string &  name)
virtual dynamicgraph::sot::WhichFootUpper::~WhichFootUpper ( void  ) [virtual]

Member Function Documentation

virtual void dynamicgraph::sot::WhichFootUpper::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
) [virtual]

Reimplemented from dynamicgraph::Entity.

static MatrixHomogeneous& dynamicgraph::sot::WhichFootUpper::computeFootPosition ( const MatrixHomogeneous waistMfoot,
const MatrixRotation waistRsensor,
const MatrixRotation worldRsensor,
MatrixHomogeneous res 
) [static]
MatrixRotation& dynamicgraph::sot::WhichFootUpper::computeRotationMatrix ( MatrixRotation rotMat,
int  time 
)
dynamicgraph::sot::WhichFootUpper::DYNAMIC_GRAPH_ENTITY_DECL ( )
unsigned int& dynamicgraph::sot::WhichFootUpper::whichFoot ( const MatrixHomogeneous waistMlfoot,
const MatrixHomogeneous waistMrfoot,
unsigned int &  res 
)

Member Data Documentation

const unsigned int dynamicgraph::sot::WhichFootUpper::INDEX_LEFT_FOOT_DEFAULT [static, protected]
const unsigned int dynamicgraph::sot::WhichFootUpper::INDEX_RIGHT_FOOT_DEFAULT [static, protected]