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dynamicgraph::sot::NextStepPgSot Class Reference

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

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

 DYNAMIC_GRAPH_ENTITY_DECL ()
 
 NextStepPgSot (const std::string &name)
 
virtual ~NextStepPgSot (void)
 
virtual void starter (const int &timeCurr)
 
virtual void stoper (const int &timeCurr)
 
virtual void introductionCallBack (const int &timeCurr)
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
- Public Member Functions inherited from dynamicgraph::sot::NextStep
 DYNAMIC_GRAPH_ENTITY_DECL ()
 
 NextStep (const std::string &name)
 
virtual ~NextStep (void)
 
virtual void nextStep (const int &timeCurr)
 
int & triggerCall (int &dummy, int timeCurr)
 
virtual void display (std::ostream &os) const
 
- 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
 

Static Public Attributes

static const unsigned int ADDING_STEP =0
 
static const unsigned int CHANGING_STEP =1
 

Protected Types

typedef std::pair< unsigned
int,
PatternGeneratorJRL::FootAbsolutePosition > 
FootPrint_t
 
- Protected Types inherited from dynamicgraph::sot::NextStep
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 Attributes

std::vector< FootPrint_tstepbuf
 
EntitypgEntity
 
unsigned int m_StepModificationMode
 
double m_NextStepTime
 
unsigned int m_NbOfFirstSteps
 
pg::PatternGeneratorInterface * m_PGI
 Pointer towards the interface of the pattern generator. More...
 
PatternGeneratorm_sPG
 Pointer towards the entity which handle the pattern generator. More...
 
- Protected Attributes inherited from dynamicgraph::sot::NextStep
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
 

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
 
- Public Attributes inherited from dynamicgraph::sot::NextStep
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
 
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
 
SignalPtr< unsigned, int > contactFootSIN
 
Signal< int, int > triggerSOUT
 
- Protected Member Functions inherited from dynamicgraph::sot::NextStep
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)
 
- Static Protected Attributes inherited from dynamicgraph::sot::NextStep
static const unsigned int PERIOD_DEFAULT
 
static const double ZERO_STEP_POSITION_DEFAULT
 

Member Typedef Documentation

typedef std::pair<unsigned int, PatternGeneratorJRL::FootAbsolutePosition> dynamicgraph::sot::NextStepPgSot::FootPrint_t
protected

Constructor & Destructor Documentation

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

Member Function Documentation

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

Reimplemented from dynamicgraph::sot::NextStep.

dynamicgraph::sot::NextStepPgSot::DYNAMIC_GRAPH_ENTITY_DECL ( )
virtual void dynamicgraph::sot::NextStepPgSot::introductionCallBack ( const int &  timeCurr)
virtual

Reimplemented from dynamicgraph::sot::NextStep.

virtual void dynamicgraph::sot::NextStepPgSot::starter ( const int &  timeCurr)
virtual

Reimplemented from dynamicgraph::sot::NextStep.

virtual void dynamicgraph::sot::NextStepPgSot::stoper ( const int &  timeCurr)
virtual

Reimplemented from dynamicgraph::sot::NextStep.

Member Data Documentation

const unsigned int dynamicgraph::sot::NextStepPgSot::ADDING_STEP =0
static
const unsigned int dynamicgraph::sot::NextStepPgSot::CHANGING_STEP =1
static
unsigned int dynamicgraph::sot::NextStepPgSot::m_NbOfFirstSteps
protected
double dynamicgraph::sot::NextStepPgSot::m_NextStepTime
protected
pg::PatternGeneratorInterface* dynamicgraph::sot::NextStepPgSot::m_PGI
protected

Pointer towards the interface of the pattern generator.

PatternGenerator* dynamicgraph::sot::NextStepPgSot::m_sPG
protected

Pointer towards the entity which handle the pattern generator.

unsigned int dynamicgraph::sot::NextStepPgSot::m_StepModificationMode
protected
Entity* dynamicgraph::sot::NextStepPgSot::pgEntity
protected
std::vector<FootPrint_t> dynamicgraph::sot::NextStepPgSot::stepbuf
protected