Generates footsteps.
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#include <sot-pattern-generator/step-computer-force.h>
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virtual const std::string & | getClassName (void) const |
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| StepComputerForce (const std::string &name) |
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void | changeFirstStep (StepQueue &queue, int timeCurr) |
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void | nextStep (StepQueue &queue, int timeCurr) |
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Vector & | computeDisplacement (Vector &res, int timeCurr) |
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Vector & | computeForce (Vector &res, int timeCurr) |
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Vector & | computeForceL (Vector &res, int timeCurr) |
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Vector & | computeForceR (Vector &res, int timeCurr) |
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Vector & | computeHandForce (Vector &res, const MatrixHomogeneous &waMh, const MatrixHomogeneous &waMref, const Vector &F) |
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virtual void | display (std::ostream &os) const |
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virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
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| Entity (const std::string &name) |
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virtual | ~Entity () |
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const std::string & | getName () const |
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virtual std::string | getDocString () const |
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bool | hasSignal (const std::string &signame) const |
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SignalBase< int > & | getSignal (const std::string &signalName) |
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const SignalBase< int > & | getSignal (const std::string &signalName) const |
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std::ostream & | displaySignalList (std::ostream &os) const |
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virtual std::ostream & | writeGraph (std::ostream &os) const |
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virtual std::ostream & | writeCompletionList (std::ostream &os) const |
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virtual SignalBase< int > * | test () |
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virtual void | test2 (SignalBase< int > *) |
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const std::string & | getCommandList () const |
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CommandMap_t | getNewStyleCommandMap () |
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command::Command * | getNewStyleCommand (const std::string &cmdName) |
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SignalMap | getSignalMap () const |
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virtual | ~StepComputer () |
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SignalPtr< MatrixHomogeneous, int > | waistMlhandSIN |
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SignalPtr< MatrixHomogeneous, int > | waistMrhandSIN |
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SignalPtr< MatrixHomogeneous, int > | referencePositionWaistSIN |
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SignalPtr< Vector, int > | stiffnessSIN |
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SignalPtr< Vector, int > | velocitySIN |
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SignalPtr< unsigned, int > | contactFootSIN |
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SignalTimeDependent< Vector, int > | displacementSOUT |
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SignalTimeDependent< Vector, int > | forceSOUT |
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SignalTimeDependent< Vector, int > | forceLhandSOUT |
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SignalTimeDependent< Vector, int > | forceRhandSOUT |
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dynamicgraph::sot::StepComputerForce::StepComputerForce |
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const std::string & |
name | ) |
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void dynamicgraph::sot::StepComputerForce::changeFirstStep |
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StepQueue & |
queue, |
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int |
timeCurr |
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) |
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virtual |
virtual void dynamicgraph::sot::StepComputerForce::commandLine |
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const std::string & |
cmdLine, |
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std::istringstream & |
cmdArgs, |
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std::ostream & |
os |
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) |
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virtual |
Vector& dynamicgraph::sot::StepComputerForce::computeDisplacement |
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Vector & |
res, |
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int |
timeCurr |
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) |
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Vector& dynamicgraph::sot::StepComputerForce::computeForce |
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Vector & |
res, |
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int |
timeCurr |
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) |
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Vector& dynamicgraph::sot::StepComputerForce::computeForceL |
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Vector & |
res, |
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int |
timeCurr |
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) |
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Vector& dynamicgraph::sot::StepComputerForce::computeForceR |
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Vector & |
res, |
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int |
timeCurr |
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) |
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virtual void dynamicgraph::sot::StepComputerForce::display |
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std::ostream & |
os | ) |
const |
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virtual |
virtual const std::string& dynamicgraph::sot::StepComputerForce::getClassName |
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void |
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const |
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inlinevirtual |
void dynamicgraph::sot::StepComputerForce::nextStep |
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StepQueue & |
queue, |
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int |
timeCurr |
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) |
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virtual |
const std::string dynamicgraph::sot::StepComputerForce::CLASS_NAME |
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static |
SignalPtr< unsigned,int > dynamicgraph::sot::StepComputerForce::contactFootSIN |