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dynamicgraph::sot::WhichFootUpper Class Reference

#include <sot-pattern-generator/which-foot-upper.h>

Inheritance diagram for dynamicgraph::sot::WhichFootUpper:
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Collaboration diagram for dynamicgraph::sot::WhichFootUpper:
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Public Member Functions

 DYNAMIC_GRAPH_ENTITY_DECL ()
 
 WhichFootUpper (const std::string &name)
 
virtual ~WhichFootUpper (void)
 
MatrixRotationcomputeRotationMatrix (MatrixRotation &rotMat, int time)
 
unsigned int & whichFoot (const MatrixHomogeneous &waistMlfoot, const MatrixHomogeneous &waistMrfoot, unsigned int &res)
 
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 void display (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
 

Static Public Member Functions

static MatrixHomogeneouscomputeFootPosition (const MatrixHomogeneous &waistMfoot, const MatrixRotation &waistRsensor, const MatrixRotation &worldRsensor, MatrixHomogeneous &res)
 

Public Attributes

SignalPtr< MatrixRotation, int > waistRsensorSIN
 
SignalPtr< MatrixRotation, int > worldRsensorSIN
 
SignalPtr< MatrixHomogeneous, int > waistMlfootSIN
 
SignalPtr< MatrixHomogeneous, int > waistMrfootSIN
 
SignalTimeDependent
< MatrixHomogeneous, int > 
worldMlfootSOUT
 
SignalTimeDependent
< MatrixHomogeneous, int > 
worldMrfootSOUT
 
SignalTimeDependent< unsigned
int, int > 
whichFootSOUT
 
SignalPtr< MatrixHomogeneous, int > waistMsensorSIN
 
SignalTimeDependent
< MatrixRotation, int > 
waistRsensorSOUT
 

Protected Attributes

unsigned int indexLeftFoot
 
unsigned int indexRightFoot
 
double triggerThreshold
 
unsigned int lastFoot
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Static Protected Attributes

static const unsigned int INDEX_LEFT_FOOT_DEFAULT
 
static const unsigned int INDEX_RIGHT_FOOT_DEFAULT
 
static const double TRIGGER_THRESHOLD_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
 
- 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)
 

Constructor & Destructor Documentation

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

Member Function Documentation

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

Reimplemented from dynamicgraph::Entity.

static MatrixHomogeneous& dynamicgraph::sot::WhichFootUpper::computeFootPosition ( const MatrixHomogeneous waistMfoot,
const MatrixRotation waistRsensor,
const MatrixRotation worldRsensor,
MatrixHomogeneous res 
)
static
MatrixRotation& dynamicgraph::sot::WhichFootUpper::computeRotationMatrix ( MatrixRotation rotMat,
int  time 
)
dynamicgraph::sot::WhichFootUpper::DYNAMIC_GRAPH_ENTITY_DECL ( )
unsigned int& dynamicgraph::sot::WhichFootUpper::whichFoot ( const MatrixHomogeneous waistMlfoot,
const MatrixHomogeneous waistMrfoot,
unsigned int &  res 
)

Member Data Documentation

const unsigned int dynamicgraph::sot::WhichFootUpper::INDEX_LEFT_FOOT_DEFAULT
staticprotected
const unsigned int dynamicgraph::sot::WhichFootUpper::INDEX_RIGHT_FOOT_DEFAULT
staticprotected
unsigned int dynamicgraph::sot::WhichFootUpper::indexLeftFoot
protected
unsigned int dynamicgraph::sot::WhichFootUpper::indexRightFoot
protected
unsigned int dynamicgraph::sot::WhichFootUpper::lastFoot
protected
const double dynamicgraph::sot::WhichFootUpper::TRIGGER_THRESHOLD_DEFAULT
staticprotected
double dynamicgraph::sot::WhichFootUpper::triggerThreshold
protected
SignalPtr<MatrixHomogeneous,int> dynamicgraph::sot::WhichFootUpper::waistMlfootSIN
SignalPtr<MatrixHomogeneous,int> dynamicgraph::sot::WhichFootUpper::waistMrfootSIN
SignalPtr<MatrixHomogeneous,int> dynamicgraph::sot::WhichFootUpper::waistMsensorSIN
SignalPtr<MatrixRotation,int> dynamicgraph::sot::WhichFootUpper::waistRsensorSIN
SignalTimeDependent<MatrixRotation,int> dynamicgraph::sot::WhichFootUpper::waistRsensorSOUT
SignalTimeDependent<unsigned int,int> dynamicgraph::sot::WhichFootUpper::whichFootSOUT
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::WhichFootUpper::worldMlfootSOUT
SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::WhichFootUpper::worldMrfootSOUT
SignalPtr<MatrixRotation,int> dynamicgraph::sot::WhichFootUpper::worldRsensorSIN