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dynamicgraph::sot::NextStep Class Reference

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

Inheritance diagram for dynamicgraph::sot::NextStep:
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Collaboration diagram for dynamicgraph::sot::NextStep:
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Classes

class  FootPrint
 

Public Member Functions

 DYNAMIC_GRAPH_ENTITY_DECL ()
 
 NextStep (const std::string &name)
 
virtual ~NextStep (void)
 
virtual void nextStep (const int &timeCurr)
 
virtual void starter (const int &timeCurr)
 
virtual void stoper (const int &timeCurr)
 
virtual void introductionCallBack (const int &timeCurr)
 
int & triggerCall (int &dummy, int timeCurr)
 
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 const std::string & getClassName () const =0
 
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 Attributes

SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
 
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
 
SignalPtr< unsigned, int > contactFootSIN
 
Signal< int, int > triggerSOUT
 

Protected Types

enum  ContactName {
  CONTACT_LEFT_FOOT,
  CONTACT_RIGHT_FOOT
}
 
enum  SteppingMode {
  MODE_1D,
  MODE_3D
}
 
enum  SteppingState {
  STATE_STARTING,
  STATE_STOPING,
  STATE_STARTED,
  STATE_STOPED
}
 

Protected Member Functions

void thisIsZero ()
 
- 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

std::deque< FootPrintfootPrintList
 
unsigned int period
 
int timeLastIntroduction
 
SteppingMode mode
 
SteppingState state
 
double zeroStepPosition
 
MatrixHomogeneous rfMref0
 
MatrixHomogeneous lfMref0
 
NextStepTwoHandObserver twoHandObserver
 
std::ostream * verbose
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Static Protected Attributes

static const unsigned int PERIOD_DEFAULT
 
static const double ZERO_STEP_POSITION_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
 

Detailed Description

Generates footsteps depending on the frame computed by the TwoHandObserver and the interpretation of the sensor forces. A stack of 4 foot prints is maintained, and at each step, two steps are computed: one step to push at the end of the stack, and a step computed from the i-th step of the stack + delta, which corresponds to a change in the future steps.

Member Enumeration Documentation

Enumerator
CONTACT_LEFT_FOOT 
CONTACT_RIGHT_FOOT 
Enumerator
MODE_1D 
MODE_3D 
Enumerator
STATE_STARTING 

Introducing 4 steps then switches to STATE_STARTED.

STATE_STOPING 

Running but stop requested: introduce a last step and stop.

STATE_STARTED 

Running, simply introduce steps.

STATE_STOPED 

Nothing to do, cannot introduce steps in the FIFO.

Constructor & Destructor Documentation

dynamicgraph::sot::NextStep::NextStep ( const std::string &  name)
virtual dynamicgraph::sot::NextStep::~NextStep ( void  )
virtual

Member Function Documentation

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

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::NextStepPgSot.

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

Reimplemented from dynamicgraph::Entity.

dynamicgraph::sot::NextStep::DYNAMIC_GRAPH_ENTITY_DECL ( )
virtual void dynamicgraph::sot::NextStep::introductionCallBack ( const int &  timeCurr)
inlinevirtual
virtual void dynamicgraph::sot::NextStep::nextStep ( const int &  timeCurr)
virtual
virtual void dynamicgraph::sot::NextStep::starter ( const int &  timeCurr)
virtual
virtual void dynamicgraph::sot::NextStep::stoper ( const int &  timeCurr)
virtual
void dynamicgraph::sot::NextStep::thisIsZero ( )
protected
int& dynamicgraph::sot::NextStep::triggerCall ( int &  dummy,
int  timeCurr 
)

Member Data Documentation

SignalPtr< unsigned,int > dynamicgraph::sot::NextStep::contactFootSIN
std::deque< FootPrint > dynamicgraph::sot::NextStep::footPrintList
protected
MatrixHomogeneous dynamicgraph::sot::NextStep::lfMref0
protected
SteppingMode dynamicgraph::sot::NextStep::mode
protected
unsigned int dynamicgraph::sot::NextStep::period
protected
const unsigned int dynamicgraph::sot::NextStep::PERIOD_DEFAULT
staticprotected
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::NextStep::referencePositionLeftSIN
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::NextStep::referencePositionRightSIN
MatrixHomogeneous dynamicgraph::sot::NextStep::rfMref0
protected
SteppingState dynamicgraph::sot::NextStep::state
protected
int dynamicgraph::sot::NextStep::timeLastIntroduction
protected
Signal< int,int > dynamicgraph::sot::NextStep::triggerSOUT
NextStepTwoHandObserver dynamicgraph::sot::NextStep::twoHandObserver
protected
std::ostream* dynamicgraph::sot::NextStep::verbose
protected
const double dynamicgraph::sot::NextStep::ZERO_STEP_POSITION_DEFAULT
staticprotected
double dynamicgraph::sot::NextStep::zeroStepPosition
protected