dynamicgraph::sot::ZmprefFromCom Class Reference

#include <sot-dynamic/zmpreffromcom.h>

Inheritance diagram for dynamicgraph::sot::ZmprefFromCom:
Collaboration diagram for dynamicgraph::sot::ZmprefFromCom:

Public Member Functions

virtual const std::string & getClassName (void) const
 
 ZmprefFromCom (const std::string &name)
 
virtual ~ZmprefFromCom (void)
 
ml::VectorcomputeZmpref (ml::Vector &res, const int &time)
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual std::string getDocString () const
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual void display (std::ostream &os) const
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 

Public Attributes

double dt
 
double footHeight
 
dg::SignalPtr< MatrixHomogeneous, int > waistPositionSIN
 
dg::SignalPtr< ml::Vector, int > comPositionSIN
 
dg::SignalPtr< ml::Vector, int > dcomSIN
 
dg::SignalTimeDependent< ml::Vector, int > zmprefSOUT
 

Static Public Attributes

static const std::string CLASS_NAME
 
static const double DT_DEFAULT
 
static const double FOOT_HEIGHT_DEFAULT
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * > SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 
- Protected Member Functions inherited from dynamicgraph::Entity
void addCommand (const std::string &name, command::Command *command)
 
void entityRegistration ()
 
void entityDeregistration ()
 
void signalRegistration (const SignalArray< int > &signals)
 
void signalDeregistration (const std::string &name)
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Constructor & Destructor Documentation

◆ ZmprefFromCom()

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

◆ ~ZmprefFromCom()

virtual dynamicgraph::sot::ZmprefFromCom::~ZmprefFromCom ( void  )
virtual

Member Function Documentation

◆ commandLine()

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

Reimplemented from dynamicgraph::Entity.

◆ computeZmpref()

ml::Vector& dynamicgraph::sot::ZmprefFromCom::computeZmpref ( ml::Vector res,
const int &  time 
)

◆ getClassName()

virtual const std::string& dynamicgraph::sot::ZmprefFromCom::getClassName ( void  ) const
inlinevirtual

Implements dynamicgraph::Entity.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::ZmprefFromCom::CLASS_NAME
static

◆ comPositionSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ZmprefFromCom::comPositionSIN

◆ dcomSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ZmprefFromCom::dcomSIN

◆ dt

double dynamicgraph::sot::ZmprefFromCom::dt

◆ DT_DEFAULT

const double dynamicgraph::sot::ZmprefFromCom::DT_DEFAULT
static

◆ FOOT_HEIGHT_DEFAULT

const double dynamicgraph::sot::ZmprefFromCom::FOOT_HEIGHT_DEFAULT
static

◆ footHeight

double dynamicgraph::sot::ZmprefFromCom::footHeight

◆ waistPositionSIN

dg::SignalPtr<MatrixHomogeneous,int> dynamicgraph::sot::ZmprefFromCom::waistPositionSIN

◆ zmprefSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::ZmprefFromCom::zmprefSOUT