dynamicgraph::sot::StepComputerForce Class Reference

Generates footsteps. More...

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

Inheritance diagram for dynamicgraph::sot::StepComputerForce:
Collaboration diagram for dynamicgraph::sot::StepComputerForce:

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::VectorcomputeDisplacement (ml::Vector &res, int timeCurr)
 
ml::VectorcomputeForce (ml::Vector &res, int timeCurr)
 
ml::VectorcomputeForceL (ml::Vector &res, int timeCurr)
 
ml::VectorcomputeForceR (ml::Vector &res, int timeCurr)
 
ml::VectorcomputeHandForce (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 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 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 Member Functions inherited from dynamicgraph::sot::StepComputer
virtual ~StepComputer ()
 

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
 

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
 

Detailed Description

Generates footsteps.

Constructor & Destructor Documentation

◆ StepComputerForce()

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

Member Function Documentation

◆ changeFirstStep()

void dynamicgraph::sot::StepComputerForce::changeFirstStep ( StepQueue queue,
int  timeCurr 
)
virtual

◆ commandLine()

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

Reimplemented from dynamicgraph::Entity.

◆ computeDisplacement()

ml::Vector& dynamicgraph::sot::StepComputerForce::computeDisplacement ( ml::Vector res,
int  timeCurr 
)

◆ computeForce()

ml::Vector& dynamicgraph::sot::StepComputerForce::computeForce ( ml::Vector res,
int  timeCurr 
)

◆ computeForceL()

ml::Vector& dynamicgraph::sot::StepComputerForce::computeForceL ( ml::Vector res,
int  timeCurr 
)

◆ computeForceR()

ml::Vector& dynamicgraph::sot::StepComputerForce::computeForceR ( ml::Vector res,
int  timeCurr 
)

◆ computeHandForce()

ml::Vector& dynamicgraph::sot::StepComputerForce::computeHandForce ( ml::Vector res,
const MatrixHomogeneous waMh,
const MatrixHomogeneous waMref,
const ml::Vector F 
)

◆ display()

virtual void dynamicgraph::sot::StepComputerForce::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ getClassName()

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

Implements dynamicgraph::Entity.

◆ nextStep()

void dynamicgraph::sot::StepComputerForce::nextStep ( StepQueue queue,
int  timeCurr 
)
virtual

Member Data Documentation

◆ CLASS_NAME

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

◆ contactFootSIN

SignalPtr< unsigned,int > dynamicgraph::sot::StepComputerForce::contactFootSIN

◆ displacementSOUT

SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::StepComputerForce::displacementSOUT

◆ forceLhandSOUT

SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::StepComputerForce::forceLhandSOUT

◆ forceRhandSOUT

SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::StepComputerForce::forceRhandSOUT

◆ forceSOUT

SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::StepComputerForce::forceSOUT

◆ referencePositionWaistSIN

SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::StepComputerForce::referencePositionWaistSIN

◆ stiffnessSIN

SignalPtr< ml::Vector,int > dynamicgraph::sot::StepComputerForce::stiffnessSIN

◆ velocitySIN

SignalPtr< ml::Vector,int > dynamicgraph::sot::StepComputerForce::velocitySIN

◆ waistMlhandSIN

SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::StepComputerForce::waistMlhandSIN

◆ waistMrhandSIN

SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::StepComputerForce::waistMrhandSIN