dynamicgraph::sot::NextStepTwoHandObserver Class Reference

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

Collaboration diagram for dynamicgraph::sot::NextStepTwoHandObserver:

List of all members.

Public Member Functions

 NextStepTwoHandObserver (const std::string &name)
MatrixHomogeneouscomputeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneouscomputeReferencePositionRight (MatrixHomogeneous &res, int timeCurr)
ml::VectorcomputeReferenceVelocity (const ml::Vector &right, const ml::Vector &left, ml::Vector &res)
ml::VectorcomputeReferenceAcceleration (const ml::Vector &right, const ml::Vector &left, ml::Vector &res)
SignalArray< int > getSignals (void)
 operator SignalArray< int > ()

Public Attributes

SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
SignalPtr< ml::Vector, int > referenceVelocityLeftSIN
SignalPtr< ml::Vector, int > referenceAccelerationLeftSIN
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
SignalPtr< ml::Vector, int > referenceVelocityRightSIN
SignalPtr< ml::Vector, int > referenceAccelerationRightSIN
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionLeftSOUT
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionRightSOUT
SignalTimeDependent
< ml::Vector, int > 
referenceVelocitySOUT
SignalTimeDependent
< ml::Vector, int > 
referenceAccelerationSOUT

Detailed Description

Computes a reference frame in either left or right foot coordinates, based on the position of the hands. Used by the stepper to compute the reference foot prints to send to the Pattern Generator.


Constructor & Destructor Documentation

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

Member Function Documentation

ml::Vector& dynamicgraph::sot::NextStepTwoHandObserver::computeReferenceAcceleration ( const ml::Vector right,
const ml::Vector left,
ml::Vector res 
)
MatrixHomogeneous& dynamicgraph::sot::NextStepTwoHandObserver::computeReferencePositionLeft ( MatrixHomogeneous res,
int  timeCurr 
)
MatrixHomogeneous& dynamicgraph::sot::NextStepTwoHandObserver::computeReferencePositionRight ( MatrixHomogeneous res,
int  timeCurr 
)
ml::Vector& dynamicgraph::sot::NextStepTwoHandObserver::computeReferenceVelocity ( const ml::Vector right,
const ml::Vector left,
ml::Vector res 
)
SignalArray<int> dynamicgraph::sot::NextStepTwoHandObserver::getSignals ( void  )
dynamicgraph::sot::NextStepTwoHandObserver::operator SignalArray< int > ( )

Member Data Documentation