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dynamicgraph::sot::NextStepTwoHandObserver Class Reference

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

Collaboration diagram for dynamicgraph::sot::NextStepTwoHandObserver:
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Public Member Functions

 NextStepTwoHandObserver (const std::string &name)
 
MatrixHomogeneouscomputeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr)
 
MatrixHomogeneouscomputeReferencePositionRight (MatrixHomogeneous &res, int timeCurr)
 
ml::VectorcomputeReferenceVelocity (const ml::Vector &right, const ml::Vector &left, ml::Vector &res)
 
ml::VectorcomputeReferenceAcceleration (const ml::Vector &right, const ml::Vector &left, ml::Vector &res)
 
SignalArray< int > getSignals (void)
 
 operator SignalArray< int > ()
 

Public Attributes

SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
 
SignalPtr< ml::Vector, int > referenceVelocityLeftSIN
 
SignalPtr< ml::Vector, int > referenceAccelerationLeftSIN
 
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
 
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
 
SignalPtr< ml::Vector, int > referenceVelocityRightSIN
 
SignalPtr< ml::Vector, int > referenceAccelerationRightSIN
 
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
 
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionLeftSOUT
 
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionRightSOUT
 
SignalTimeDependent
< ml::Vector, int > 
referenceVelocitySOUT
 
SignalTimeDependent
< ml::Vector, int > 
referenceAccelerationSOUT
 

Detailed Description

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.

Constructor & Destructor Documentation

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

Member Function Documentation

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 > ( )

Member Data Documentation

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