#include <sot-pattern-generator/next-step.h>
Public Member Functions | |
NextStepTwoHandObserver (const std::string &name) | |
MatrixHomogeneous & | computeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr) |
MatrixHomogeneous & | computeReferencePositionRight (MatrixHomogeneous &res, int timeCurr) |
ml::Vector & | computeReferenceVelocity (const ml::Vector &right, const ml::Vector &left, ml::Vector &res) |
ml::Vector & | computeReferenceAcceleration (const ml::Vector &right, const ml::Vector &left, ml::Vector &res) |
SignalArray< int > | getSignals (void) |
operator SignalArray< int > () | |
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.
dynamicgraph::sot::NextStepTwoHandObserver::NextStepTwoHandObserver | ( | const std::string & | name | ) |
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 > | ( | ) |
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::NextStepTwoHandObserver::leftFootPositionSIN |
SignalPtr< ml::Vector,int > dynamicgraph::sot::NextStepTwoHandObserver::referenceAccelerationLeftSIN |
SignalPtr< ml::Vector,int > dynamicgraph::sot::NextStepTwoHandObserver::referenceAccelerationRightSIN |
SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::NextStepTwoHandObserver::referenceAccelerationSOUT |
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::NextStepTwoHandObserver::referencePositionLeftSIN |
SignalTimeDependent< MatrixHomogeneous,int > dynamicgraph::sot::NextStepTwoHandObserver::referencePositionLeftSOUT |
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::NextStepTwoHandObserver::referencePositionRightSIN |
SignalTimeDependent< MatrixHomogeneous,int > dynamicgraph::sot::NextStepTwoHandObserver::referencePositionRightSOUT |
SignalPtr< ml::Vector,int > dynamicgraph::sot::NextStepTwoHandObserver::referenceVelocityLeftSIN |
SignalPtr< ml::Vector,int > dynamicgraph::sot::NextStepTwoHandObserver::referenceVelocityRightSIN |
SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::NextStepTwoHandObserver::referenceVelocitySOUT |
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::NextStepTwoHandObserver::rightFootPositionSIN |