hpp-walkgen
4.11.0
Walk generator for hpp framework
foot-print.hh
Go to the documentation of this file.
1
//
2
// Copyright (c) 2015 CNRS
3
// Authors: Florent Lamiraux
4
//
5
// This file is part of hpp-walkgen
6
// hpp-walkgen is free software: you can redistribute it
7
// and/or modify it under the terms of the GNU Lesser General Public
8
// License as published by the Free Software Foundation, either version
9
// 3 of the License, or (at your option) any later version.
10
//
11
// hpp-walkgen is distributed in the hope that it will be
12
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14
// General Lesser Public License for more details. You should have
15
// received a copy of the GNU Lesser General Public License along with
16
// hpp-walkgen If not, see
17
// <http://www.gnu.org/licenses/>.
18
19
#ifndef HPP_WALKGEN_FOOT_PRINT_HH
20
# define HPP_WALKGEN_FOOT_PRINT_HH
21
22
# include <Eigen/StdVector>
23
24
# include <
hpp/walkgen/config.hh
>
25
# include <
hpp/walkgen/fwd.hh
>
26
27
namespace
hpp
{
28
namespace
walkgen {
30
struct
FootPrint
{
31
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
37
FootPrint
(
const
value_type
& abs,
const
value_type
& ord,
38
const
value_type
& cosYaw,
const
value_type
& sinYaw) :
39
position
(abs, ord),
orientation
(cosYaw, sinYaw)
40
{
41
}
42
vector2_t
position
;
43
vector2_t
orientation
;
44
const
value_type
&
operator[]
(
size_type
index)
const
45
{
46
return
position
[index];
47
}
48
};
// struct FootPrint
49
typedef
std::vector <FootPrint, Eigen::aligned_allocator <FootPrint> >
50
FootPrints_t
;
51
}
// namespace walkgen
52
}
// namespace hpp
53
54
#endif // HPP_WALKGEN_FOOT_PRINT_HH
hpp::walkgen::FootPrint::position
vector2_t position
Definition:
foot-print.hh:42
hpp::walkgen::FootPrint::orientation
vector2_t orientation
Definition:
foot-print.hh:43
hpp::walkgen::FootPrint::operator[]
const value_type & operator[](size_type index) const
Definition:
foot-print.hh:44
hpp::walkgen::vector2_t
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition:
fwd.hh:44
hpp::walkgen::value_type
double value_type
Definition:
fwd.hh:37
hpp::walkgen::FootPrint::FootPrint
EIGEN_MAKE_ALIGNED_OPERATOR_NEW FootPrint(const value_type &abs, const value_type &ord, const value_type &cosYaw, const value_type &sinYaw)
Definition:
foot-print.hh:37
hpp::walkgen::size_type
matrix_t::Index size_type
Definition:
fwd.hh:42
fwd.hh
hpp
Definition:
bspline-based.hh:28
hpp::walkgen::FootPrint
Position of a foot on the (horizontal) ground.
Definition:
foot-print.hh:30
config.hh
hpp::walkgen::FootPrints_t
std::vector< FootPrint, Eigen::aligned_allocator< FootPrint > > FootPrints_t
Definition:
foot-print.hh:50
include
hpp
walkgen
foot-print.hh
Generated by
1.8.17