dynamicgraph::sot::StepQueue Class Reference

A step queue in the preview window. More...

#include <sot-pattern-generator/step-queue.h>

Inheritance diagram for dynamicgraph::sot::StepQueue:
Collaboration diagram for dynamicgraph::sot::StepQueue:

List of all members.

Public Member Functions

virtual const std::string & getClassName (void) const
 StepQueue (const std::string &name)
 Builds a queue containing a starting step and three steps in the preview.
void startSequence ()
 Resets the queue to the initial condition (see the constructor, StepQueue::StepQueue).
void pushStep (double x, double y, double theta)
 Adds a step at the end of the preview window.
void changeFirstStep (double x, double y, double dtheta)
 Changes the first step.
const FootPrintgetFirstStepChange () const
bool isFirstStepChanged () const
 Returns true if the first step has been changed since the last call to pushStep.
virtual void display (std::ostream &os) const
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
const FootPrintgetStep (unsigned int index) const
 Access to the step queue.
const FootPrintgetFirstStep () const
const FootPrintgetLastStep () const
unsigned int size () const
 Access to the step queue properties (constants).
const FootPrintgetStartFootPrint () const
double getZeroStepPosition () const

Static Public Attributes

static const std::string CLASS_NAME

Detailed Description

A step queue in the preview window.

A series of step in the preview window. The first step can be modified.

Invariant:
{The queue always contains 4 steps.}
Note:
{This entity class can not be instantiated in a shell since it does not register any factory. This behavior is intended.}

Constructor & Destructor Documentation

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

Builds a queue containing a starting step and three steps in the preview.

The steps correspond to on-place stepping: (0, +/- y, 0), where y == StepQueue::ZERO_STEP_POSITION


Member Function Documentation

void dynamicgraph::sot::StepQueue::changeFirstStep ( double  x,
double  y,
double  dtheta 
)

Changes the first step.

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

Reimplemented from dynamicgraph::Entity.

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

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::StepQueue::getClassName ( void  ) const [inline, virtual]

Implements dynamicgraph::Entity.

const FootPrint& dynamicgraph::sot::StepQueue::getFirstStep ( ) const
const FootPrint& dynamicgraph::sot::StepQueue::getFirstStepChange ( ) const
const FootPrint& dynamicgraph::sot::StepQueue::getLastStep ( ) const
const FootPrint& dynamicgraph::sot::StepQueue::getStartFootPrint ( ) const
const FootPrint& dynamicgraph::sot::StepQueue::getStep ( unsigned int  index) const

Access to the step queue.

Warning:
{No check is performed on the indices used in these accessors.}
double dynamicgraph::sot::StepQueue::getZeroStepPosition ( ) const
bool dynamicgraph::sot::StepQueue::isFirstStepChanged ( ) const

Returns true if the first step has been changed since the last call to pushStep.

void dynamicgraph::sot::StepQueue::pushStep ( double  x,
double  y,
double  theta 
)

Adds a step at the end of the preview window.

The step at the beginning of the preview window is removed. The firstStepChanged flag is reset to false.

unsigned int dynamicgraph::sot::StepQueue::size ( ) const

Access to the step queue properties (constants).

void dynamicgraph::sot::StepQueue::startSequence ( )

Resets the queue to the initial condition (see the constructor, StepQueue::StepQueue).


Member Data Documentation

const std::string dynamicgraph::sot::StepQueue::CLASS_NAME [static]