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dynamicgraph::sot::StepObserver Class Reference

Computes a reference frame from the position of both hands and feet of the robot. More...

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

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

virtual const std::string & getClassName (void) const
 
 StepObserver (const std::string &name)
 
SignalArray< int > getSignals (void)
 
 operator SignalArray< int > ()
 
MatrixHomogeneouscomputeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr)
 
MatrixHomogeneouscomputeReferencePositionRight (MatrixHomogeneous &res, int timeCurr)
 
MatrixHomogeneouscomputeReferencePositionWaist (MatrixHomogeneous &res, 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 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 > leftHandPositionSIN
 
SignalPtr< MatrixHomogeneous, int > rightHandPositionSIN
 
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
 
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
 
SignalPtr< MatrixHomogeneous, int > waistPositionSIN
 
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionLeftSOUT
 Reference frame in left foot coordinates. More...
 
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionRightSOUT
 Reference frame in right foot coordinates. More...
 
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionWaistSOUT
 Reference frame in the waist coordinates. More...
 

Static Public Attributes

static const std::string CLASS_NAME
 

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)
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Detailed Description

Computes a reference frame from the position of both hands and feet of the robot.

The coordinates of the reference frames are computed both in the left and right foot frames, and in the waist frame.

Constructor & Destructor Documentation

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

Member Function Documentation

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

Reimplemented from dynamicgraph::Entity.

MatrixHomogeneous& dynamicgraph::sot::StepObserver::computeReferencePositionLeft ( MatrixHomogeneous res,
int  timeCurr 
)
MatrixHomogeneous& dynamicgraph::sot::StepObserver::computeReferencePositionRight ( MatrixHomogeneous res,
int  timeCurr 
)
MatrixHomogeneous& dynamicgraph::sot::StepObserver::computeReferencePositionWaist ( MatrixHomogeneous res,
int  timeCurr 
)
virtual void dynamicgraph::sot::StepObserver::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::StepObserver::getClassName ( void  ) const
inlinevirtual

Implements dynamicgraph::Entity.

SignalArray<int> dynamicgraph::sot::StepObserver::getSignals ( void  )
dynamicgraph::sot::StepObserver::operator SignalArray< int > ( )

Member Data Documentation

const std::string dynamicgraph::sot::StepObserver::CLASS_NAME
static
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::StepObserver::leftFootPositionSIN
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::StepObserver::leftHandPositionSIN
SignalTimeDependent< MatrixHomogeneous,int > dynamicgraph::sot::StepObserver::referencePositionLeftSOUT

Reference frame in left foot coordinates.

SignalTimeDependent< MatrixHomogeneous,int > dynamicgraph::sot::StepObserver::referencePositionRightSOUT

Reference frame in right foot coordinates.

SignalTimeDependent< MatrixHomogeneous,int > dynamicgraph::sot::StepObserver::referencePositionWaistSOUT

Reference frame in the waist coordinates.

SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::StepObserver::rightFootPositionSIN
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::StepObserver::rightHandPositionSIN
SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::StepObserver::waistPositionSIN